I'm digging into navigation and experimenting with move_base. There are lots of good tutorials and I've done some of them. Also there's some documentation in the wiki, including a neat diagram. However I am looking for a little deeper explanation of the way the collection of libraries and apis actually work. I've downloaded the code but that seems to be a level too deep. On the other hand the wiki and tutorials are very recipe driven. (Naturally I've googled.)
Can you point me to some resource: web page, journal articles, blog post or anything? Thanks!
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