mlsanityData to 7 Oct 2026

Motion Planning and Control for Mobile Robot Navigation Using Machine Learning: a Survey

arXiv 2011.13112 ↗First posted 26 Nov 2020cs.ROcited by 48

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Abstract (arXiv)

Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another. Despite their overall success, a recently emerging research thrust is devoted to developing machine learning techniques to address the same problem, based in large part on the success of deep learning. However, to date, there has not been much direct comparison between the classical and emerging paradigms to this problem. In this article, we survey recent works that apply machine learning for motion planning and control in mobile robot navigation, within the context of classical navigation systems. The surveyed works are classified into different categories, which delineate the relationship of the learning approaches to classical methods. Based on this classification, we identify common challenges and promising future directions.

Key facts. Cited by 48 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Nov 2020.

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Citing papers per year: 2021: 1; 2022: 4; 2023: 15; 2024: 14; 2025: 12; 2026: 2.

48 papers.

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  1. 2023Principles and Guidelines for Evaluating Social Robot Navigation Algorithmscited by 52
  2. 2024VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Modelscited by 46
  3. 2024Multi-Robot Motion Planning with Diffusion Modelscited by 37
  4. 2024No Regrets: Investigating and Improving Regret Approximations for Curriculum Discoverycited by 29
  5. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  6. 2022Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigationcited by 27
  7. 2024Can We Trust Embodied Agents? Exploring Backdoor Attacks against Embodied LLM-based Decision-Making Systemscited by 23
  8. 2024LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidancecited by 18
  9. 2022Benchmarking Reinforcement Learning Techniques for Autonomous Navigationcited by 15
  10. 2021Conflict Avoidance in Social Navigation -- a Surveycited by 13
  11. 2024DTG : Diffusion-based Trajectory Generation for Mapless Global Navigationcited by 13
  12. 2023MLANet: Multi-Level Attention Network with Sub-instruction for Continuous Vision-and-Language Navigationcited by 11
36 more
  1. 2023Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flightcited by 11
  2. 2023STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experiencecited by 10
  3. 2025Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planningcited by 10
  4. 2022Generative Adversarial Super-Resolution at the Edge with Knowledge Distillationcited by 9
  5. 2023Parameterized Decision-making with Multi-modal Perception for Autonomous Drivingcited by 7
  6. 2023Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planningcited by 6
  7. 2024Autonomous Driving Small-Scale Cars: A Survey of Recent Developmentcited by 6
  8. 2022Reinforcement Learning in Practice: Opportunities and Challengescited by 5
  9. 2023PathRL: An End-to-End Path Generation Method for Collision Avoidance via Deep Reinforcement Learningcited by 5
  10. 2024VANP: Learning Where to See for Navigation with Self-Supervised Vision-Action Pre-Trainingcited by 5
  11. 2024Grounded Curriculum Learningcited by 5
  12. 2023A Study on Learning Social Robot Navigation with Multimodal Perceptioncited by 4
  13. 2024A Reinforcement Learning-Boosted Motion Planning Framework: Comprehensive Generalization Performance in Autonomous Drivingcited by 4
  14. 2024PACER: Preference-conditioned All-terrain Costmap Generationcited by 4
  15. 2025Optimistic critics can empower small actorscited by 4
  16. 2023Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanismcited by 3
  17. 2023Holistic Deep-Reinforcement-Learning-based Training of Autonomous Navigation Systemscited by 2
  18. 2023Arena-Rosnav 2.0: A Development and Benchmarking Platform for Robot Navigation in Highly Dynamic Environmentscited by 2
  19. 2023Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimizationcited by 2
  20. 2025A Survey of Reinforcement Learning-Based Motion Planning for Autonomous Driving: Lessons Learned from a Driving Task Perspectivecited by 2
  21. 2023Arena-Web -- A Web-based Development and Benchmarking Platform for Autonomous Navigation Approachescited by 1
  22. 2023Racing Towards Reinforcement Learning based control of an Autonomous Formula SAE Carcited by 1
  23. 2024TE-NeXt: A LiDAR-Based 3D Sparse Convolutional Network for Traversability Estimationcited by 1
  24. 2025T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terraincited by 1
  25. 2025Bench2FreeAD: A Benchmark for Vision-based End-to-end Navigation in Unstructured Robotic Environmentscited by 1
  26. 2025Robust Localization, Mapping, and Navigation for Quadruped Robotscited by 1
  27. 2025CARoL: Context-aware Adaptation for Robot Learningcited by 1
  28. 2025Imitation Learning for Obstacle Avoidance Using End-to-End CNN-Based Sensor Fusioncited by 1
  29. 2023Confidence-Controlled Exploration: Efficient Sparse-Reward Policy Learning for Robot Navigationcited by 0
  30. 2024Dyna-LfLH: Learning Agile Navigation in Dynamic Environments from Learned Hallucinationcited by 0
  31. 2024Cooperative and Asynchronous Transformer-based Mission Planning for Heterogeneous Teams of Mobile Robotscited by 0
  32. 2025Are Learning-Based Approaches Ready for Real-World Indoor Navigation? A Case for Imitation Learningcited by 0
  33. 2025Hierarchical Decision-Making for Autonomous Navigation: Integrating Deep Reinforcement Learning and Fuzzy Logic in Four-Wheel Independent Steering and Driving Systemscited by 0
  34. 2025Real-Time Obstacle Avoidance for a Mobile Robot Using CNN-Based Sensor Fusioncited by 0
  35. 2026Robust Scene Transfer for PointGoal Navigation via Privileged Sensor Guided Contrastive Learningcited by 0
  36. 2026FlexPath: Adapting Learned Connectivity Guidance to Path Preferencescited by 0