{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T17:41:33Z","timestamp":1760031693182,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2025,3,31]],"date-time":"2025-03-31T00:00:00Z","timestamp":1743379200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union NextGenerationEU project","award":["TAEDK-06172"],"award-info":[{"award-number":["TAEDK-06172"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents a complete system for autonomous navigation in GPS-denied environments using a minimal sensor suite that operates onboard a robotic vehicle. Our system utilizes a single camera and, given a target destination without prior knowledge of the environment, replans in real time to generate a collision-free trajectory that avoids static and dynamic obstacles. To achieve this, we introduce, for the first time, a local Euclidean Signed Distance Field (ESDF) map with variable size and resolution, which scales as a function of the vehicle\u2019s velocity. The map is updated at a high rate, requiring minimal computational power. Additionally, a short-term vicinity-based memory is maintained for previously observed areas to facilitate smooth trajectory generation, addressing the limited field-of-view provided by the RGB-D camera. System validation is carried out by deploying our algorithm on a differential drive vehicle in both simulation and real-world experiments involving static and dynamic obstacles. We benchmark our robotic system against state-of-the-art autonomous navigation frameworks, successfully navigating to designated target locations while avoiding obstacles in both static and dynamic scenarios, all without introducing additional computational overhead. Our approach consistently achieves the target goals even in complex settings where current state-of-the-art methods may fall short.<\/jats:p>","DOI":"10.3390\/robotics14040044","type":"journal-article","created":{"date-parts":[[2025,4,1]],"date-time":"2025-04-01T11:17:57Z","timestamp":1743506277000},"page":"44","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Exploiting a Variable-Sized Map and Vicinity-Based Memory for Dynamic Real-Time Planning of Autonomous Robots"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-2864-1075","authenticated-orcid":false,"given":"Aristeidis","family":"Geladaris","sequence":"first","affiliation":[{"name":"Tech Hive Labs, 11855 Athens, Greece"},{"name":"Control Systems and Robotics Lab (CSRL), Mechanical Engineering Department, School of Engineering, Hellenic Mediterranean University, 71004 Heraklion, Greece"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lampis","family":"Papakostas","sequence":"additional","affiliation":[{"name":"Tech Hive Labs, 11855 Athens, Greece"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2910-3930","authenticated-orcid":false,"given":"Athanasios","family":"Mastrogeorgiou","sequence":"additional","affiliation":[{"name":"Tech Hive Labs, 11855 Athens, Greece"},{"name":"Control Systems Lab (CSL), School of Mechanical Engineering, National Technical University of Athens, 15773 Athens, Greece"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1976-8728","authenticated-orcid":false,"given":"Panagiotis","family":"Polygerinos","sequence":"additional","affiliation":[{"name":"Control Systems and Robotics Lab (CSRL), Mechanical Engineering Department, School of Engineering, Hellenic Mediterranean University, 71004 Heraklion, Greece"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,3,31]]},"reference":[{"key":"ref_1","unstructured":"Lu, Z., Liu, F., and Lin, X. 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