Baxevani, KleioYadav, IndrajeetYang, YulinSebok, MichaelTanner, Herbert G.Huang, Guoquan2023-02-012023-02-012022-11-23Baxevani, Kleio, Indrajeet Yadav, Yulin Yang, Michael Sebok, Herbert G. Tanner, and Guoquan Huang. “Resilient Ground Vehicle Autonomous Navigation in GPS-Denied Environments.” Guidance, Navigation and Control, November 23, 2022, 2250020. https://doi.org/10.1142/S2737480722500200.2737-4920https://udspace.udel.edu/handle/19716/32186Baxevani, Kleio, Indrajeet Yadav, Yulin Yang, Michael Sebok, Herbert G. Tanner, and Guoquan Huang. “Resilient Ground Vehicle Autonomous Navigation in GPS-Denied Environments.” Guidance, Navigation and Control, November 23, 2022, 2250020. https://doi.org/10.1142/S2737480722500200. © Technical Committee on Guidance, Navigation and Control, CSAA and World Scientific Publishing Co. https://www.worldscientific.com/worldscinet/gnc. This article will be embargoed until 11/23/2023.Co-design and integration of vehicle navigation and control and state estimation is key for enabling field deployment of mobile robots in GPS-denied cluttered environments, and sensor calibration is critical for successful operation of both subsystems. This paper demonstrates the potential of this co-design approach with field tests of the integration of a reactive receding horizon-based motion planner and controller with an inertial aided multi-sensor calibration scheme. The reported method provides accurate calibration parameters that improve the performance of the state estimator, and enable the motion controller to generate smooth and continuous minimal-jerk trajectories based on local LiDAR data. Numerical simulations in Unity, and real-world experimental results from the field corroborate the claims of efficacy for the reported autonomous navigation computational pipeline.en-USfield robotscalibration and identificationmotion and path planningArticle