diff --git a/config/dock_global_params.yaml b/config/dock_global_params.yaml
index bb9f187..3191200 100644
--- a/config/dock_global_params.yaml
+++ b/config/dock_global_params.yaml
@@ -1,6 +1,5 @@
 DockPlanner:
   library_path: libdock_planner
-  # File: config/planner_params.yaml
   MyGlobalPlanner:
     cost_threshold: 200        # Ngưỡng chi phí vật cản (0-255)
     safety_distance: 2         # Khoảng cách an toàn (cells)
diff --git a/examples/NavigationExample/NavigationExample.csproj b/examples/NavigationExample/NavigationExample.csproj
index 9ec6097..c98bcda 100644
--- a/examples/NavigationExample/NavigationExample.csproj
+++ b/examples/NavigationExample/NavigationExample.csproj
@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFramework>net10.0</TargetFramework>
+    <TargetFramework>net6.0</TargetFramework>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
   </PropertyGroup>
   <ItemGroup>
diff --git a/examples/NavigationExample/Program.cs b/examples/NavigationExample/Program.cs
index 0fd7206..89ca9fd 100644
--- a/examples/NavigationExample/Program.cs
+++ b/examples/NavigationExample/Program.cs
@@ -396,8 +396,8 @@ namespace NavigationExample
 
             PoseStamped goal = new PoseStamped();
             goal.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
-            goal.pose.position.x = 1.0;
-            goal.pose.position.y = 1.0;
+            goal.pose.position.x = 0.01;
+            goal.pose.position.y = 0.01;
             goal.pose.position.z = 0.0;
             goal.pose.orientation.x = 0.0;
             goal.pose.orientation.y = 0.0;
diff --git a/src/Algorithms/Packages/global_planners/dock_planner b/src/Algorithms/Packages/global_planners/dock_planner
index da82431..56d05e4 160000
--- a/src/Algorithms/Packages/global_planners/dock_planner
+++ b/src/Algorithms/Packages/global_planners/dock_planner
@@ -1 +1 @@
-Subproject commit da82431cd9fdee1aef407579357af9e573460389
+Subproject commit 56d05e4322a9ef57c7e421d86d244f764edefcfe
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
index 42c952b..7a59917 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
@@ -74,7 +74,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
       if (!traj_generator_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create trajectory generator \"%s\": returned null pointer", traj_generator_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
       }
       robot::NodeHandle nh_traj_gen = robot::NodeHandle(parent_, traj_generator_name);
       traj_generator_->initialize(nh_traj_gen);
@@ -83,7 +83,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s traj_generator, are you sure it is properly registered and that the containing library is built? Exception: %s", traj_generator_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
     }
 
     std::string algorithm_nav_name; 
@@ -99,14 +99,14 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
       if (!nav_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to load algorithm %s", algorithm_nav_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
       }
       nav_algorithm_->initialize(parent_, algorithm_nav_name, tf, costmap_robot_, traj_generator_);
     }
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s algorithm , are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_nav_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
     }
 
     std::string algorithm_rotate_name;
@@ -121,7 +121,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
       if (!rotate_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create rotate algorithm \"%s\": returned null pointer", algorithm_rotate_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create rotate algorithm");
       }
       rotate_algorithm_->initialize(parent_, algorithm_rotate_name, tf, costmap_robot_, traj_generator_);
       robot::log_info_at(__FILE__, __LINE__, "Successfully initialized rotate algorithm \"%s\"", algorithm_rotate_name.c_str());
@@ -129,7 +129,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s rotate algorithm, are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_rotate_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create rotate algorithm");
     }
 
     std::string goal_checker_name;
@@ -145,7 +145,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
       if (!goal_checker_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create goal checker \"%s\": returned null pointer", goal_checker_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
       }
       goal_checker_->initialize(parent_);
       robot::log_info_at(__FILE__, __LINE__, "Successfully initialized goal checker \"%s\"", goal_checker_name.c_str());
@@ -153,7 +153,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::initialize(robot::NodeHandle &
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Unexpected exception while creating goal checker \"%s\": %s", goal_checker_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
     }
 
     this->initializeOthers();
@@ -601,7 +601,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
       if (!docking_planner_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create global planner \"%s\": returned null pointer", docking_planner_name_.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create global planner");
       }
       docking_planner_->initialize(name_, costmap_robot_);
       robot::log_info_at(__FILE__, __LINE__, "Created global_planner %s", docking_planner_name_.c_str());
@@ -625,7 +625,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
       if (!docking_nav_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create docking nav \"%s\": returned null pointer", docking_nav_name_.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create docking nav");
       }
       robot::NodeHandle nh_docking_nav = robot::NodeHandle(nh_priv_, docking_nav_name_);
       docking_nav_->initialize(nh_docking_nav, docking_nav_name_, tf_, costmap_robot_, traj_generator_);
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp
index ddbc668..4e11876 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp
@@ -80,7 +80,7 @@ void pnkx_local_planner::PNKXGoStraightLocalPlanner::initialize(robot::NodeHandl
       if (!traj_generator_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create trajectory generator \"%s\": returned null pointer", traj_generator_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
       }
       robot::NodeHandle nh_traj_gen = robot::NodeHandle(parent_, traj_generator_name);
       traj_generator_->initialize(nh_traj_gen);
@@ -88,7 +88,7 @@ void pnkx_local_planner::PNKXGoStraightLocalPlanner::initialize(robot::NodeHandl
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s traj_generator, are you sure it is properly registered and that the containing library is built? Exception: %s", traj_generator_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
     }
 
     std::string algorithm_nav_name = std::string("pnkx_local_planner::GoStraight");
@@ -104,14 +104,14 @@ void pnkx_local_planner::PNKXGoStraightLocalPlanner::initialize(robot::NodeHandl
       if (!nav_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create algorithm \"%s\": returned null pointer", algorithm_nav_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
       }
       nav_algorithm_->initialize(parent_, algorithm_nav_name, tf, costmap_robot_, traj_generator_);
     }
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s algorithm , are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_nav_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
     }
 
     std::string goal_checker_name;
@@ -126,7 +126,7 @@ void pnkx_local_planner::PNKXGoStraightLocalPlanner::initialize(robot::NodeHandl
       if (!goal_checker_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create goal checker \"%s\": returned null pointer", goal_checker_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
       }
       robot::NodeHandle nh_goal_checker = robot::NodeHandle(parent_, goal_checker_name);
       goal_checker_->initialize(nh_goal_checker);
@@ -134,7 +134,7 @@ void pnkx_local_planner::PNKXGoStraightLocalPlanner::initialize(robot::NodeHandl
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s Goal checker , are you sure it is properly registered and that the containing library is built? Exception: %s", goal_checker_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
     }
 
     robot::log_info_at(__FILE__, __LINE__, "%s is initialized", name.c_str());
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_local_planner.cpp
index 5989001..962be7f 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_local_planner.cpp
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_local_planner.cpp
@@ -88,7 +88,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
       if (!traj_generator_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create trajectory generator \"%s\": returned null pointer", traj_generator_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
       }
       robot::NodeHandle nh_traj_gen = robot::NodeHandle(parent_, traj_generator_name);
       traj_generator_->initialize(nh_traj_gen);
@@ -97,7 +97,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s traj_generator, are you sure it is properly registered and that the containing library is built? Exception: %s", traj_generator_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
     }
     
     std::string algorithm_nav_name; 
@@ -113,14 +113,14 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
       if (!nav_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to load algorithm %s", algorithm_nav_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
       }
       nav_algorithm_->initialize(parent_, algorithm_nav_name, tf, costmap_robot_, traj_generator_);
     }
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s algorithm , are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_nav_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
     }
 
     std::string algorithm_rotate_name;
@@ -135,7 +135,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
       if (!rotate_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create rotate algorithm \"%s\": returned null pointer", algorithm_rotate_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create rotate algorithm");
       }
       rotate_algorithm_->initialize(parent_, algorithm_rotate_name, tf, costmap_robot_, traj_generator_);
       robot::log_info_at(__FILE__, __LINE__, "Successfully initialized rotate algorithm \"%s\"", algorithm_rotate_name.c_str());
@@ -143,7 +143,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s rotate algorithm, are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_rotate_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create rotate algorithm");
     }
 
     std::string goal_checker_name;
@@ -159,7 +159,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
       if (!goal_checker_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create goal checker \"%s\": returned null pointer", goal_checker_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
       }
       goal_checker_->initialize(parent_);
       robot::log_info_at(__FILE__, __LINE__, "Successfully initialized goal checker \"%s\"", goal_checker_name.c_str());
@@ -167,7 +167,7 @@ void pnkx_local_planner::PNKXLocalPlanner::initialize(robot::NodeHandle &parent,
     catch (const std::exception &ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Unexpected exception while creating goal checker \"%s\": %s", goal_checker_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
     }
 
     this->initializeOthers();
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp
index 0d4c5a5..f0b5718 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp
@@ -64,7 +64,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
       if (!traj_generator_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create trajectory generator \"%s\": returned null pointer", traj_generator_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
       }
       robot::NodeHandle nh_traj_gen = robot::NodeHandle(parent_, traj_generator_name);
       traj_generator_->initialize(nh_traj_gen);
@@ -72,7 +72,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s traj_generator, are you sure it is properly registered and that the containing library is built? Exception: %s", traj_generator_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create traj_generator");
     }
 
     std::string algorithm_rotate_name = std::string("nav_algorithm::Rotate");
@@ -88,7 +88,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
       if (!nav_algorithm_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create algorithm \"%s\": returned null pointer", algorithm_rotate_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
       }
       robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_rotate_name);
       nav_algorithm_->initialize(nh_algorithm, algorithm_rotate_name, tf, costmap_robot_, traj_generator_);
@@ -96,7 +96,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s algorithm , are you sure it is properly registered and that the containing library is built? Exception: %s", algorithm_rotate_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create algorithm");
     }
 
     std::string goal_checker_name;
@@ -111,7 +111,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
       if (!goal_checker_)
       {
         robot::log_error_at(__FILE__, __LINE__, "Failed to create goal checker \"%s\": returned null pointer", goal_checker_name.c_str());
-        exit(1);
+        throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
       }
       robot::NodeHandle nh_goal_checker = robot::NodeHandle(parent_, goal_checker_name);
       goal_checker_->initialize(nh_goal_checker);
@@ -119,7 +119,7 @@ void pnkx_local_planner::PNKXRotateLocalPlanner::initialize(robot::NodeHandle& p
     catch (const std::exception& ex)
     {
       robot::log_error_at(__FILE__, __LINE__, "Failed to create the %s Goal checker , are you sure it is properly registered and that the containing library is built? Exception: %s", goal_checker_name.c_str(), ex.what());
-      exit(1);
+      throw robot_nav_core2::LocalPlannerException("Failed to create goal checker");
     }
     
     robot::log_info_at(__FILE__, __LINE__, "%s is sucessed", name.c_str());