**6. Experiments**

In this section, we give a brief description of the robotic research platform used for the experimental sessions (Figure 9) and a thorough explanation of the experiments performed to test both the autonomous navigation application proposed in Section 4 and the localization module proposed in Section 5. In addition, we justify the choice of the adjustable parameters of the system.

**Figure 9.** Experimental platform BLUE. This professional research platform—derived from a conventional electric cart—has been developed by our research group, in the University of Alicante. It is integrated with ROS and provides all the features required for developing state-of-the-art research in autonomous outdoor navigation.
