{"id":"https://openalex.org/W4389610617","doi":"https://doi.org/10.1109/mra.2023.3322920","title":"Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Second BARN Challenge at ICRA 2023 [Competitions]","display_name":"Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Second BARN Challenge at ICRA 2023 [Competitions]","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4389610617","doi":"https://doi.org/10.1109/mra.2023.3322920"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2023.3322920","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2023.3322920","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/10355532/10355540.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics &amp; Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/100/10355532/10355540.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-5151-2186","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108854600","display_name":"Zifan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zifan Xu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034309376","display_name":"Ferran Gebelli Guinjoan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ferran Gebelli Guinjoan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087218026","display_name":"R\u00f4mulo T. Rodrigues","orcid":"https://orcid.org/0000-0003-0834-2737"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R\u00f4mulo T. Rodrigues","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Herman Bruyninckx","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029102089","display_name":"Hanjaya Mandala","orcid":"https://orcid.org/0000-0002-8051-4057"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hanjaya Mandala","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041219257","display_name":"Guilherme Christmann","orcid":"https://orcid.org/0000-0001-9140-1894"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guilherme Christmann","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772672","display_name":"Jose\u2010Luis Blanco","orcid":"https://orcid.org/0000-0002-9745-285X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jose Luis Blanco-Claraco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Shravan Somashekara Rai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shravan Somashekara Rai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6357,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84097392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"30","issue":"4","first_page":"91","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9660999774932861,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9635999798774719,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9434999823570251,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7172569632530212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6979433298110962},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6417765617370605},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6052730679512024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5866993069648743},{"id":"https://openalex.org/keywords/barn","display_name":"Barn","score":0.5627179145812988},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5493736267089844},{"id":"https://openalex.org/keywords/competition","display_name":"Competition (biology)","score":0.5172910690307617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48717138171195984},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3951629102230072},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3749786615371704},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3639279007911682},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34647417068481445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3380075693130493},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16381791234016418},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11795338988304138},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.08749690651893616}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7172569632530212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6979433298110962},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6417765617370605},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6052730679512024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5866993069648743},{"id":"https://openalex.org/C2780883654","wikidata":"https://www.wikidata.org/wiki/Q1303167","display_name":"Barn","level":2,"score":0.5627179145812988},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5493736267089844},{"id":"https://openalex.org/C91306197","wikidata":"https://www.wikidata.org/wiki/Q45767","display_name":"Competition (biology)","level":2,"score":0.5172910690307617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48717138171195984},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3951629102230072},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3749786615371704},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3639279007911682},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34647417068481445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3380075693130493},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16381791234016418},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11795338988304138},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.08749690651893616},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mra.2023.3322920","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2023.3322920","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/10355532/10355540.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics &amp; Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/732332","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/732332","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ieee Robotics & Automation Magazine, vol. 30 (4), (91-97)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/mra.2023.3322920","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2023.3322920","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/10355532/10355540.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics &amp; Automation Magazine","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389610617.pdf","grobid_xml":"https://content.openalex.org/works/W4389610617.grobid-xml"},"referenced_works_count":3,"referenced_works":["https://openalex.org/W4311167248","https://openalex.org/W4323527562","https://openalex.org/W6850887890"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W2992534160","https://openalex.org/W1595058678","https://openalex.org/W3022812046","https://openalex.org/W2745830841"],"abstract_inverted_index":{"The":[0,135],"second":[1],"Benchmark":[2],"Autonomous":[3],"Robot":[4],"Navigation":[5],"(BARN)":[6],"Challenge":[7,46],"took":[8],"place":[9],"at":[10,47,100],"the":[11,29,43,52,60,66,77,81,101,109,125,146,163,208,210,214],"2023":[12],"IEEE":[13],"International":[14],"Conference":[15],"on":[16,178],"Robotics":[17],"and":[18,25,69,154,199,218],"Automation":[19],"(ICRA":[20],"2023)":[21],"in":[22,37,50,57,64,80,95,104,165],"London,":[23],"U.K.,":[24],"continued":[26],"to":[27,42,90,121,139,180,182,221],"evaluate":[28],"performance":[30],"of":[31,62,86,128,141,162,173],"state-of-the-art":[32],"autonomous":[33],"ground":[34,156],"navigation":[35,157,185,201],"systems":[36,158],"highly":[38],"constrained":[39],"environments.":[40,168],"Compared":[41],"first":[44],"BARN":[45],"ICRA":[48],"2022":[49],"Philadelphia,":[51],"competition":[53,136],"has":[54],"grown":[55],"significantly":[56],"size,":[58],"doubling":[59],"numbers":[61],"participants":[63],"both":[65],"simulation":[67,83],"qualifier":[68],"physical":[70,97],"finals:":[71],"10":[72],"teams":[73,107,147,193],"from":[74,117],"all":[75],"over":[76],"world":[78],"participated":[79],"qualifying":[82],"competition,":[84],"six":[85],"which":[87],"were":[88],"invited":[89],"compete":[91],"with":[92,124,132],"each":[93],"other":[94],"three":[96,215],"obstacle":[98,167],"courses":[99],"conference":[102],"center":[103],"London.":[105],"Three":[106],"won":[108],"challenge":[110],"by":[111,213],"navigating":[112],"a":[113,118,122,170],"Clearpath":[114],"Jackal":[115],"robot":[116],"predefined":[119],"start":[120],"goal":[123],"shortest":[126],"amount":[127,172],"time":[129],"without":[130],"colliding":[131],"any":[133],"obstacle.":[134],"results,":[137],"compared":[138],"those":[140],"last":[142],"year,":[143],"suggest":[144],"that":[145,159],"are":[148],"making":[149],"progress":[150],"toward":[151],"more":[152],"robust":[153],"efficient":[155],"work":[160],"out":[161],"box":[164],"many":[166,192],"However,":[169],"significant":[171],"fine-tuning":[174],"is":[175],"still":[176,189],"needed":[177],"site":[179],"cater":[181],"different":[183],"difficult":[184],"scenarios.":[186],"Furthermore,":[187],"challenges":[188],"remain":[190],"for":[191],"when":[194],"facing":[195],"extremely":[196],"cluttered":[197],"obstacles":[198],"increasing":[200],"speed.":[202],"In":[203],"this":[204],"article,":[205],"we":[206],"discuss":[207],"challenge,":[209],"approaches":[211],"used":[212],"winning":[216],"teams,":[217],"lessons":[219],"learned":[220],"direct":[222],"future":[223],"research.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
