mlsanityData to 7 Oct 2026

Autonomous Navigation in Complex Environments

arXiv 2401.03267 ↗First posted 6 Jan 2024cs.RO cs.AI cs.CVcited by 1

Not on the map. Why?

Abstract (arXiv)

This paper explores the application of CNN-DNN network fusion to construct a robot navigation controller within a simulated environment. The simulated environment is constructed to model a subterranean rescue situation, such that an autonomous agent is tasked with finding a goal within an unknown cavernous system. Imitation learning is used to train the control algorithm to use LiDAR and camera data to navigate the space and find the goal. The trained model is then tested for robustness using Monte-Carlo.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 5 of its 18 references that are in the map. First posted on arXiv 6 Jan 2024.

Builds on

5 of 18 references.

References · 5

  1. 2015Rethinking the Inception Architecture for Computer Visioncited by 5,451
  2. 2020LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappingcited by 185
  3. 2020Autonomous Navigation in Complex Environments with Deep Multimodal Fusion Networkcited by 16
  4. 2022Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learnedcited by 13
  5. 2023Robust Navigation with Cross-Modal Fusion and Knowledge Transfercited by 2

Built on by

Cited by year

Citing papers per year: 2024: 1.

1 paper.

  1. 2024NSP: A Neuro-Symbolic Natural Language Navigational Plannercited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2021Deep Visual Navigation under Partial Observability
  2. 2025Imitation Learning for Obstacle Avoidance Using End-to-End CNN-Based Sensor Fusion
  3. 2018Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Map-less Navigation by Leveraging Prior Demonstrations
  4. 2019Learning Your Way Without Map or Compass: Panoramic Target Driven Visual Navigation
  5. 2025Are Learning-Based Approaches Ready for Real-World Indoor Navigation? A Case for Imitation Learning
  6. 2020Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles
  7. 2019Learning Exploration Policies for Navigation
  8. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration