Cenavi

Cenavi is a software framework designed to provide centralized navigation for autonomous systems. It aims to unify localization, mapping, path planning, and vehicle control within a single, modular stack that can be deployed on ground and aerial platforms.

The architecture centers on a plugin-based design and a publish/subscribe communication model, enabling researchers and developers to replace or extend components without altering the rest of the system. It emphasizes real-time performance and fault-tolerant operation.

Key components include a Localizer that fuses IMU, GNSS, and visual odometry data; a MapManager for real-time map updates; a GlobalPlanner for route generation; a LocalPlanner for collision-free trajectory generation; a Controller for actuation; and a Safety/Health module.

Interoperability and deployment: Cenavi is designed to work with ROS 2 and DDS-based middleware, supports common map formats, and provides simulation adapters for testing in virtual environments.

Development and usage: The project began in 2022 as an open-source community effort and has since grown through contributions from universities and industry. It is used for autonomous vehicles, warehouse robots, and delivery drones, though integration challenges remain for some platforms.

Impact and outlook: Cenavi’s modular approach lowers integration costs and supports experimentation with different localization and planning strategies, while challenges include configuring end-to-end performance and ensuring safety in complex environments.