On Thu, Dec 9, 2010 at 12:08 PM, wrote: > What we are looking at is something along the lines of LAGR, but in much more constrained spaces (indoor).  I think I will start by modifying DWA. That might be of most use to the ROS community as well. FWIW, the Trajectory Rollout mode of base_local_planner (set ~dwa to False) implements an algorithm that we developed some years ago precisely for the LAGR robot. It (our earlier implementation, not the one in base_local_planner) worked very well on that vehicle. brian.