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Summary: Docking abort after battery sag

Capture the failure narrative, supporting evidence, and internal notes before sharing the incident internally.

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Summary

Root-cause hypothesis

Localization degraded after a moving forklift blocked landmark visibility near waypoint M-14. Planner fallback entered recovery, but pose confidence never recovered before the mission abort threshold.

Primary cause: landmark occlusion
Secondary risk: map shift near M-14
Autonomy Lead2026-04-22 19:58

Planner fallback triggered correctly, but localization confidence never recovered after forklift occlusion.

Perception Engineer2026-04-22 20:11

Need to check whether April map refresh shifted the aisle landmark geometry near waypoint M-14.

Key Moments
Localization drift begins06:12
Planner recovery engaged06:37
Mission abort07:03
Operator bookmark07:11