An Autonomous Mobile Robot (AMR) simulation stack for ROS 2 Jazzy and Gazebo, featuring a full Nav2 integration, MPPI control, and a custom state-machine for battery-aware autonomous docking.

Interactive Autonomous Navigation Research Lab for UGVs featuring localization, path planning, DWA, MPC, Adaptive MPC, reinforcement learning hooks, safety supervision, live visualization, benchmarking, replay, and automated report generation.

Labs from the NYU graduate course ROB-GY 6213: Robot Localization and Navigation. Each lab builds progressively toward a full autonomous navigation stack. All algorithms are implemented from scratch and deployed on a physical differential-drive robot.