> It's really hard to think about how a robotic system that doesn't maintain a map could work intelligently to accomplish navigation goals, For navigation with

> It's really hard to think about how a robotic system that doesn't maintain a map could work intelligently to accomplish navigation goals, For navigation with less map input, see the work of Oussama Khatib. A single nav goal is not a problem. A sequence of nav goals is where the planner adds value. Pure Sense-Plan-Act has long since been abandoned. Brooks' paper "Elephants Don't Play Chess" is a fun and easy read, and even though old, is still on the must-read list if you want to think about these problems. These days the "three layer architecture" is common in some form: classic controllers close to the hardware, a reactive layer, and a deliberative layer. If you squint your eyes the typical ROS-based robot is more-or-less three-layer. The default nav stack has a reactive Khatib-style layer executing nav sub-goals dropped into it from a planner that does map searches. Pure world-modelling is too slow and error-prone in the short term. Pure reactive is unwieldy with complex sequences of sub-goals.