I. INTRODUCTION  
II. OVERVIEW OF GLOBAL PATH PLANNERS  
III. OVERVIEW OF LOCAL TRAJECTORY PLANNERS  
IV. OVERVIEW OF PATH SMOOTHING  
V. OVERVIEW OF PERCEPTION  
VI. OVERVIEW OF BEHAVIOR TREES  
VII. OVERVIEW OF STATE ESTIMATION  
VIII. OVERVIEW OF LOCALIZATION AND MAPPING  
IX. OVERVIEW OF KEY UTILITIES  
X. THE FUTURE OF ROS 2 MOBILE ROBOTICS  
XI. CONCLUSION