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Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023.
Xuesu Xiao, Zifan Xu, Garrett
Warnell, Peter Stone, Ferran Bebelli Guinjoan, Romulo T. Rodrigues, Herman
Bryunickx, Hanjaya Mandala, Guilherme Christmann, Jose Luis Blanco-Claraco, and and Shravan Somashekara Rai.
IEEE Robotics
\& Automation Magazine, 2023.
The second Benchmark Autonomous Robot Navigation (BARN) Challenge took place atthe 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) inLondon, U.K., and continued to evaluate the performance of state-of-the-artautonomous ground navigation systems in highly constrained environments. Comparedto the first BARN Challenge at ICRA 2022 in Philadelphia, the competition hasgrown significantly in size, doubling the numbers of participants in both thesimulation qualifier and physical finals: 10 teams from all over the worldparticipated in the qualifying simulation competition, six of which were invitedto compete with each other in three physical obstacle courses at the conferencecenter in London. Three teams won the challenge by navigating a Clearpath Jackalrobot from a predefined start to a goal with the shortest amount of time withoutcolliding with any obstacle. The competition results, compared to those of lastyear, suggest that the teams are making progress toward more robust and efficientground navigation systems that work out of the box in many obstacle environments.However, a significant amount of fine-tuning is still needed on site to cater todifferent difficult navigation scenarios. Furthermore, challenges still remainfor many teams when facing extremely cluttered obstacles and increasingnavigation speed. In this article, we discuss the challenge, the approaches usedby the three winning teams, and lessons learned to direct future research.
@Article{xuesu_ram2023,
author = {Xuesu Xiao and Zifan Xu and Garrett Warnell and Peter Stone and Ferran Bebelli Guinjoan and Romulo T. Rodrigues and Herman Bryunickx and Hanjaya Mandala and Guilherme Christmann and Jose Luis Blanco-Claraco and and Shravan Somashekara Rai},
title = {Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023},
journal = {IEEE Robotics \& Automation Magazine},
year = {2023},
abstract = {The second Benchmark Autonomous Robot Navigation (BARN) Challenge took place at
the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in
London, U.K., and continued to evaluate the performance of state-of-the-art
autonomous ground navigation systems in highly constrained environments. Compared
to the first BARN Challenge at ICRA 2022 in Philadelphia, the competition has
grown significantly in size, doubling the numbers of participants in both the
simulation qualifier and physical finals: 10 teams from all over the world
participated in the qualifying simulation competition, six of which were invited
to compete with each other in three physical obstacle courses at the conference
center in London. Three teams won the challenge by navigating a Clearpath Jackal
robot from a predefined start to a goal with the shortest amount of time without
colliding with any obstacle. The competition results, compared to those of last
year, suggest that the teams are making progress toward more robust and efficient
ground navigation systems that work out of the box in many obstacle environments.
However, a significant amount of fine-tuning is still needed on site to cater to
different difficult navigation scenarios. Furthermore, challenges still remain
for many teams when facing extremely cluttered obstacles and increasing
navigation speed. In this article, we discuss the challenge, the approaches used
by the three winning teams, and lessons learned to direct future research.
},
}
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