Presentation
Late Breaking Results: Tiny Brain, Big World: Autonomous MCU-Friendly Navigation for Mapless Dynamic Environments
DescriptionWe present a lightweight, mapless path-planning framework for resource-constrained robots operating in dynamic environments. The method incrementally builds small local maps from onboard sensors, selects intermediate subgoals, and applies A* planning only within these local regions to navigate step-by-step toward the goal, ensuring constant memory and bounded computation. Deployed on an Arduino Nano 33 BLE Rev2, the framework achieves per-step planning in 1.3--10.6~ms using 88~kB flash and 205~kB RAM, outperforming reactive and incremental baselines that fail under identical conditions.
Event Type
Work in Progress
TimeMonday, July 276:09pm - 6:10pm PDT
LocationExhibit Hall