EasyNav: An open-source framework for navigating everywhere
UB2.147 | Day 1 | 17:30 - 17:55 | Speakers: Francisco Martín Rico, Francisco Miguel Moreno
Abstract
EasyNav is a fully open-source navigation framework for robots, designed to be lightweight, modular, and suitable for real-time execution. The project is motivated by the limitations of existing systems, which are tightly coupled to a single environment representation and often introduce unnecessary computational overhead. EasyNav decouples navigation from the underlying map structure, enabling costmaps, gridmaps, NavMap, or other models to be used interchangeably. Its architecture is built around a minimal core and open, extensible stacks that group controllers, planners, localizers, and map managers. The framework is designed to be easy to inspect, modify, and extend through its clear plugin interfaces. This talk will present the motivation, architecture, main features, and evaluation results in simulation and real robots, showing how an open-source approach improves flexibility, transparency, and performance in complex scenarios.
Links: - https://easynavigation.github.io - https://github.com/EasyNavigation/
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Speakers
Francisco Martín Rico is currently a Full Professor at the Rey Juan Carlos University, where he leads the Intelligent Robotics Laboratory. He teaches courses such as software architecture for robots, and planning and cognitive systems. He is the author of the book A Concise Introduction to Robot Programming with ROS 2. He is the author of PlanSys2, the symbolic planning reference software for ROS 2, and is a contributor to other reference packages such as rclcpp, Behavior Trees, and Nav2. He currently participates in several European and national projects, since his group is an international reference in ROS 2, navigation for mobile robots, and planning. He has been a member of the ROS 2 Technical Steering Committee. He was awarded the 2022 Best ROS Developer award at ROS Developer Day.
Francisco Miguel Moreno is a researcher and assistant professor at Universidad Rey Juan Carlos (Spain). He is part of the Intelligent Robotics Lab, where he focuses on open-source solutions for mobile robotics and autonomous navigation. His primary contributions lie in localization and mapping techniques, as well as designing scalable task planning systems for multi-robot coordination. He is a strong advocate for open-source robotics, striving to make advanced academic algorithms accessible and usable for the wider developer community.
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