AUTONAV: A Toolfor Autonomous Navigation of Robots

--We present a tool A UTONA Vthat automates the mapping, localization, and path-planning tasks for autonomous navigation of robots. The modular architecture allows easy integration of various algorithms for these tasks for comparison. We present the generated maps and path-plans by A UTONA Vin indoor simulation scenarios. I NTRODUCTION Autonomous navigation in robotics is of central importance in search and rescue operations [1], warehouse automation [2], surveillance in hazardous environments [3] etc. Perception, mapping, localization, path-planning, and control are the key tasks necessary for autonomous navigation. We focus on designing a generic navigation framework for autonomous robots while the main concern remains in addressing the motion planning problem given the robot dynamics.