{"paper":{"title":"BSL: Navigation Method Considering Blind Spots Based on ROS Navigation Stack and Blind Spots Layer for Mobile Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Masato Kobayashi, Naoki Motoi","submitted_at":"2024-05-09T00:37:38Z","abstract_excerpt":"This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using a laser range finder (LRF) and RGB-D cameras. Blind spots occur when corners or obstacles are present in the environment, and may lead to collisions if a human or object moves toward the robot from these blind spots. To prevent such collisions, this paper proposes a navigation method considering blind spots based on the local cost map layer of the BSL for th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.05479","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2405.05479/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}