The navigation challenge has already been addressed by the CPE Lyon team during the robocup@work challenge. The current video shows some navigation processing using the Kuka Youbot robot and the navigation layer of ROS. Note that in the current configuration, the Youbot has only 1 laser on the front, limiting the different local map update and localization process.
The future plateform used for the robocup@Home challenge is a PMB-2 mobile plateform from Pal Robotic. This plateforme will be enhanced with additional sensors to ensure a better robot localization and to allow a more socially acceptable navigation.