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There is a large body of documentation here: http://wiki.ros.org/navigation

Costmap docs: http://wiki.ros.org/costmap_2d

Here's a paper on the specific-to-ROS-navigation costmap implementation: https://ieeexplore.ieee.org/document/6942636

Here's the navigation stack paper from way-back-when: https://ieeexplore.ieee.org/document/5509725

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