Nav2 Lyrical vs Kilted: MPPI Trajectory Validation and the New BT Control Nodes
Nav2 for ROS 2 Lyrical adds OptimalTrajectoryValidator for MPPI, per-critic trajectory visualization, and PauseResumeController. What changed and how to migrate.
SLAM Architecture for Autonomous Robots: Localization & Mapping
SLAM architecture for autonomous robots explained: the front-end/back-end pipeline, factor-graph optimization, loop closure, visual vs LiDAR-inertial fusion (ORB-SLAM3, LIO-SAM) and failure modes in 2026.