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The Marathon 2: A Navigation System

arXiv 2003.00368 ↗First posted 1 Mar 2020cs.ROcited by 67

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Abstract (arXiv)

Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10 years on, it is still one of the most popular navigation solutions. Yet, ROS Navigation has failed to keep up with modern trends. We propose the new navigation solution, Navigation2, which builds on the successful legacy of ROS Navigation. Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors. It is built on top of ROS2, a secure message passing framework suitable for safety critical applications and program lifecycle management. We present experiments in a campus setting utilizing Navigation2 to operate safely alongside students over a marathon as an extension of the experiment proposed in Eppstein et al. The Navigation2 system is freely available at https://github.com/ros-planning/navigation2 with a rich community and instructions.

Key facts. Cited by 67 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 1; 2023: 6; 2024: 13; 2025: 19; 2026: 24.

67 papers.

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  1. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 222
  2. 2024InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environmentcited by 150
  3. 2026Code as Agent Harnesscited by 40
  4. 2025Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigationcited by 30
  5. 2023Robot Behavior-Tree-Based Task Generation with Large Language Modelscited by 22
  6. 2023End-to-End (Instance)-Image Goal Navigation through Correspondence as an Emergent Phenomenoncited by 16
  7. 2021Towards Optimal Correlational Object Searchcited by 14
  8. 2021Motion Planning Transformers: A Motion Planning Framework for Mobile Robotscited by 10
  9. 2024NEUSIS: A Compositional Neuro-Symbolic Framework for Autonomous Perception, Reasoning, and Planning in Complex UAV Search Missionscited by 8
  10. 2025Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robotscited by 8
  11. 2023Learning with a Mole: Transferable latent spatial representations for navigation without reconstructioncited by 6
  12. 2021PlanSys2: A Planning System Framework for ROS2cited by 5
38 more
  1. 2021Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environmentscited by 5
  2. 2024Learning to navigate efficiently and precisely in real environmentscited by 5
  3. 2025TRIFFID: Autonomous Robotic Aid For Increasing First Responders Efficiencycited by 5
  4. 2025RAI: Flexible Agent Framework for Embodied AIcited by 5
  5. 2025Reasoning in visual navigation of end-to-end trained agents: a dynamical systems approachcited by 4
  6. 2025Human-like Navigation in a World Built for Humanscited by 4
  7. 2024ROSpace: Intrusion Detection Dataset for a ROS2-Based Cyber-Physical Systemcited by 3
  8. 2024Mixed Strategy Nash Equilibrium for Crowd Navigationcited by 3
  9. 2024FASTNav: Fine-tuned Adaptive Small-language-models Trained for Multi-point Robot Navigationcited by 3
  10. 2025cuVSLAM: CUDA accelerated visual odometry and mappingcited by 3
  11. 2025AnywhereVLA: Language-Conditioned Exploration and Mobile Manipulationcited by 3
  12. 2025RoboNeuron: A Middle-Layer Infrastructure for Agent-Driven Orchestration in Embodied AIcited by 3
  13. 2026WildOS: Open-Vocabulary Object Search in the Wildcited by 3
  14. 2022Verifying Safety of Behaviour Trees in Event-Bcited by 2
  15. 2024Enhancing Trust in Autonomous Agents: An Architecture for Accountability and Explainability through Blockchain and Large Language Modelscited by 2
  16. 2024Learning Social Cost Functions for Human-Aware Path Planningcited by 2
  17. 2025RANa: Retrieval-Augmented Navigationcited by 2
  18. 2025What does really matter in image goal navigation?cited by 2
  19. 2025Kinaema: a recurrent sequence model for memory and pose in motioncited by 2
  20. 2026From Prompts to Pavement: LMMs-based Agentic Behavior-Tree Generation Framework for Autonomous Vehiclescited by 2
  21. 2026Multimodal Behavior Tree Generation: A Small Vision-Language Model for Robot Task Planningcited by 2
  22. 2024Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Executioncited by 1
  23. 2025Agentic Scene Policies: Unifying Space, Semantics, and Affordances for Robot Actioncited by 1
  24. 2025COMRES-VLM: Coordinated Multi-Robot Exploration and Search using Vision Language Modelscited by 1
  25. 2025SIL: Symbiotic Interactive Learning for Language-Conditioned Human-Agent Co-Adaptationcited by 1
  26. 2025CostNav: A Navigation Benchmark for Real-World Economic-Cost Evaluation of Physical AI Agentscited by 1
  27. 2026Multi-Objective Multi-Fidelity Bayesian Optimization with Causal Priorscited by 1
  28. 2026A Mentalistic Interface for Probing Folk-Psychological Attribution to Non-Humanoid Robotscited by 1
  29. 2026Image2Sim: Scaling Embodied Navigation via Generative Neural Simulatorcited by 1
  30. 2026OptiGeo: Efficient Monocular Geometry for Embodied Perception in Optically Challenging Scenescited by 1
  31. 2023DDPEN: Trajectory Optimisation With Sub Goal Generation Modelcited by 0
  32. 2023Autonomous Systems: Autonomous Systems: Indoor Drone Navigationcited by 0
  33. 2023Racing With ROS 2 A Navigation System for an Autonomous Formula Student Race Carcited by 0
  34. 2024Navigating the Human Maze: Real-Time Robot Pathfinding with Generative Imitation Learningcited by 0
  35. 2024SPACE: A Python-based Simulator for Evaluating Decentralized Multi-Robot Task Allocation Algorithmscited by 0
  36. 2024Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigationcited by 0
  37. 2025RaGNNarok: A Light-Weight Graph Neural Network for Enhancing Radar Point Clouds on Unmanned Ground Vehiclescited by 0
  38. 2025Privacy-Preserving Multi-Stage Fall Detection Framework with Semi-supervised Federated Learning and Robotic Vision Confirmationcited by 0

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