*4.1. Pre-Execution Phase*

In Figure 2 we show the pre-execution phase where we generate a grid map of the area in which we want to run the application. Using the localization estimated through the SLAM node we can save the trajectories traveled by the vehicle in order to reproduce them during the execution phase. In this case, we use a GMapping node [39] but it could be replaced by any other SLAM algorithm—if we want to have an environment representation—or even by any localization algorithm (including GNSS) if we do not need a map.
