WelcometoCARMEN,theCarnegieMellonRobotNavigationToolkit.CARMENisanopen-sourcecollectionofsoftwareformobilerobotcontrol.CARMENismodularsoftwaredesignedtoprovidebasicnavigationprimativesincluding:baseandsensorcontrol,logging,obstacleavoidance,localization,pathplanning,andmapping.