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.
Behavior Trees for Robot Task Planning: A Reference Architecture (2026)
Behavior trees for robots explained: ticks, control and leaf nodes, reactivity vs FSMs, blackboards and Nav2/BehaviorTree.CPP - the reference architecture for robot task planning and recovery in 2026.