A Supervised ROS 2 Architecture for Autonomous Mapping: Modular Exploration-Management Framework

Abstract

This paper presents a modular ROS 2 architecture for autonomous mapping in mobile robots operating within unknown and dynamic indoor environments. The proposed system integrates multimodal scan fusion, a static–dynamic obstacle-filtering module, SLAM-based map construction, frontier-based exploration, and Nav2-based navigation, coordinated by a program manager that governs the mission from distributed launch through coordinated termination. Beyond this supervised software system, the architecture is organized around a modular ROS 2 exploration-management framework that extends beyond frontier detection to govern candidate evaluation, navigation-goal supervision, failure recovery, and mission completion. Requiring only an occupancy-grid map, robot-pose information through TF, and a Nav2-compatible navigation interface, the framework may be adopted by compatible ROS 2 mobile-robot stacks through external configuration, without modification of its underlying implementation. The complete system is validated in simulation and on the physical CALL-M mobile manipulator.