{"id":"https://openalex.org/W4320059727","doi":"https://doi.org/10.1109/ssrr56537.2022.10018758","title":"DynaBARN: Benchmarking Metric Ground Navigation in Dynamic Environments","display_name":"DynaBARN: Benchmarking Metric Ground Navigation in Dynamic Environments","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W4320059727","doi":"https://doi.org/10.1109/ssrr56537.2022.10018758"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr56537.2022.10018758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048001423","display_name":"Anirudh Nair","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirudh Nair","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016732200","display_name":"Fulin Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fulin Jiang","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101699657","display_name":"Kang Hou","orcid":"https://orcid.org/0000-0002-0979-341X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kang Hou","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108854600","display_name":"Zifan Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zifan Xu","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079494654","display_name":"Shuozhe Li","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuozhe Li","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["George Mason University,Department of Computer Science","Department of Computer Science, George Mason University","Everday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"Department of Computer Science, George Mason University","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"Everday Robots","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I2800278093","display_name":"Sony Corporation (United States)","ror":"https://ror.org/05k91zb11","country_code":"US","type":"company","lineage":["https://openalex.org/I2800278093"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science","Sony AI","Department of Computer Science, The University of Texas at Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Sony AI","institution_ids":["https://openalex.org/I2800278093"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"347","last_page":"352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7777701616287231},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6318108439445496},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6145612001419067},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6058816909790039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5493311285972595},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5071282386779785},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4958089292049408},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.48625028133392334},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47110918164253235},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4708632528781891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44457656145095825},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42587360739707947},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4239763915538788},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3688008189201355},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.355654239654541},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2204011082649231},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13002166152000427}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7777701616287231},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6318108439445496},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6145612001419067},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6058816909790039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5493311285972595},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5071282386779785},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4958089292049408},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.48625028133392334},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47110918164253235},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4708632528781891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44457656145095825},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42587360739707947},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4239763915538788},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3688008189201355},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.355654239654541},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2204011082649231},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13002166152000427},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr56537.2022.10018758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G347654907","display_name":null,"funder_award_id":"CPS-1739964,IIS-1724157,NRI-1925082","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1482802896","https://openalex.org/W2002440441","https://openalex.org/W2110006698","https://openalex.org/W2110762409","https://openalex.org/W2117211893","https://openalex.org/W2142943472","https://openalex.org/W2167052694","https://openalex.org/W2167224731","https://openalex.org/W2212786010","https://openalex.org/W2227909145","https://openalex.org/W2518000768","https://openalex.org/W2604216058","https://openalex.org/W2787938642","https://openalex.org/W2963309123","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W3036170014","https://openalex.org/W3122878979","https://openalex.org/W3131579243","https://openalex.org/W3134000433","https://openalex.org/W3143901407","https://openalex.org/W3147503465","https://openalex.org/W3163454111","https://openalex.org/W3174801251","https://openalex.org/W3190038566","https://openalex.org/W3193317239","https://openalex.org/W3206314692","https://openalex.org/W3206800343","https://openalex.org/W3207060053","https://openalex.org/W4220840735","https://openalex.org/W4283785374","https://openalex.org/W4285047690","https://openalex.org/W4285117889","https://openalex.org/W4285222628","https://openalex.org/W4293245975","https://openalex.org/W6684338915","https://openalex.org/W6726291068","https://openalex.org/W6797755720"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4380590094"],"abstract_inverted_index":{"Safely":[0],"avoiding":[1],"dynamic":[2,20,87,207],"obstacles":[3,31,88,122],"while":[4],"moving":[5],"toward":[6],"a":[7,10,26,37,61,106,112,132,140,195],"goal":[8],"is":[9,78],"fundamental":[11],"capability":[12],"of":[13,45,70,89,134,172],"autonomous":[14,156,200],"mobile":[15],"robots.":[16],"Current":[17],"benchmarks":[18],"for":[19,186,198],"obstacle":[21],"avoidance":[22],"do":[23],"not":[24],"provide":[25,139,170],"way":[27,66],"to":[28,40,86,110,117,153,160],"alter":[29],"how":[30],"move":[32],"and":[33,159,175,211],"instead":[34],"use":[35],"only":[36],"single":[38,62],"method":[39,63],"uniquely":[41],"determine":[42],"the":[43,50,68,74],"movement":[44],"obstacles,":[46],"e.g.,":[47],"constant":[48],"velocity,":[49],"social":[51],"force":[52],"model,":[53],"or":[54],"Optimal":[55],"Reciprocal":[56],"Collision":[57],"Avoidance":[58],"(ORCA).":[59],"Using":[60],"in":[64,72,119,179,203],"this":[65,102],"restricts":[67],"variety":[69],"scenarios":[71],"which":[73,96,127,181],"robot":[75,113,146],"navigation":[76,114,147,157,162,177,201],"system":[77],"trained":[79],"and/or":[80],"evaluated,":[81],"thus":[82],"limiting":[83],"its":[84],"robustness":[85],"different":[90,124,206],"speeds,":[91],"trajectory":[92],"smoothness,":[93],"acceleration/deceleration,":[94],"etc.,":[95],"we":[97,104,138,169],"call":[98],"motion":[99,125],"profiles.":[100],"In":[101],"paper,":[103],"present":[105],"simulation":[107],"testbed,":[108],"DynaBARN,":[109,180],"evaluate":[111],"system's":[115],"ability":[116],"navigate":[118],"environments":[120,204,212],"with":[121,123,155,205],"profiles,":[126],"are":[128,213],"systematically":[129],"generated":[130],"by":[131,150],"set":[133],"difficulty":[135],"metrics.":[136],"Additionally,":[137],"demonstration":[141],"collection":[142],"pipeline":[143],"that":[144],"records":[145],"trials":[148],"controlled":[149],"human":[151],"users":[152],"compare":[154],"performance":[158],"develop":[161],"systems":[163,178],"using":[164],"learning":[165],"from":[166],"demonstration.":[167],"Finally,":[168],"results":[171],"four":[173],"classical":[174],"learning-based":[176],"can":[182],"serve":[183],"as":[184,194],"baselines":[185],"future":[187,199],"studies.":[188],"We":[189],"release":[190],"DynaBARN":[191],"open":[192],"source":[193],"standardized":[196],"benchmark":[197],"research":[202],"obstacles.":[208],"The":[209],"code":[210],"released":[214],"at":[215],"https://github.com/aninair1905/DynaBARN.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}
