mlsanityData to 7 Oct 2026

Autonomous Exploration Development Environment and the Planning Algorithms

arXiv 2110.14573 ↗First posted 27 Oct 2021cs.ROcited by 24

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Abstract (arXiv)

Autonomous Exploration Development Environment is an open-source repository released to facilitate the development of high-level planning algorithms and integration of complete autonomous navigation systems. The repository contains representative simulation environment models, fundamental navigation modules, e.g., local planner, terrain traversability analysis, waypoint following, and visualization tools. Together with two of our high-level planner releases -- TARE planner for exploration and FAR planner for route planning, we detail usage of the three open-source repositories and share experiences in the integration of autonomous navigation systems. We use DARPA Subterranean Challenge as a use case where the repositories together form the main navigation system of the CMU-OSU Team. In the end, we discuss a few potential use cases in extended applications.

Key facts. Cited by 24 papers in the map (data through 7 Oct 2026). First posted on arXiv 27 Oct 2021.

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Citing papers per year: 2022: 2; 2023: 3; 2024: 10; 2025: 5; 2026: 4.

24 papers.

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  1. 2023Fast Traversability Estimation for Wild Visual Navigationcited by 41
  2. 2024RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Drivingcited by 23
  3. 2025NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigationcited by 23
  4. 2024Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomycited by 16
  5. 2024Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervisioncited by 15
  6. 2024Open-vocabulary Mobile Manipulation in Unseen Dynamic Environments with 3D Semantic Mapscited by 13
  7. 2024Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Modelscited by 12
  8. 2022RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learningcited by 10
  9. 2024QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worldscited by 4
  10. 2024LiteVLoc: Map-Lite Visual Localization for Image Goal Navigationcited by 4
  11. 2025CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graphcited by 4
  12. 2025Watch Your STEPP: Semantic Traversability Estimation using Pose Projected Featurescited by 4
12 more
  1. 2025LoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometrycited by 4
  2. 2022MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Positioncited by 2
  3. 2023Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environmentscited by 2
  4. 2024IVLMap: Instance-Aware Visual Language Grounding for Consumer Robot Navigationcited by 1
  5. 2024Autonomous Hiking Trail Navigation via Semantic Segmentation and Geometric Analysiscited by 1
  6. 2023Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Banditscited by 0
  7. 2024FIT-SLAM -- Fisher Information and Traversability estimation-based Active SLAM for exploration in 3D environmentscited by 0
  8. 2025SD-OVON: A Semantics-aware Dataset and Benchmark Generation Pipeline for Open-Vocabulary Object Navigation in Dynamic Scenescited by 0
  9. 2026OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigationcited by 0
  10. 2026Autonomous Frontier-Based Exploration with VLM Guidancecited by 0
  11. 2026SGE: Semantically-Guided Exploration for Unstructured Environments via Image-Space Waypoint Samplingcited by 0
  12. 2026AnchorVLN: Geometry-Anchored Vision-Language Grounding Reasoning for Open-Vocabulary Navigationcited by 0