Papers › The BARN Challenge 2023 -- Autonomous Navigation in Highly Constrained Spaces -- Inventec Team
The BARN Challenge 2023 -- Autonomous Navigation in Highly Constrained Spaces -- Inventec Team
Hanjaya Mandala, Guilherme Christmann
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Navigation in the real-world is hard and filled with complex scenarios. The Benchmark Autonomous Robot Navigation (BARN) Challenge is a competition that focuses on highly constrained spaces. Teams compete using a standard platform in a simulation and a real-world stage, with scenarios ranging from easy to challenging. This technical report presents the system and methods employed by the Inventec Team during the BARN Challenge 2023 (https://cs.gmu.edu/~xiao/Research/BARN_Challenge/BARN_Challenge23.html). At its core, our method uses the baseline learning-based controller LfLH. We developed extensions using a finite state machine to trigger recovery behaviors, and introduced two alternatives for forward safety collision checks, based on footprint inflation and model-predictive control. Moreover, we also present a backtrack safety check based on costmap region-of-interest. Compared to the original baseline, we managed a significant increase in the navigation score, from 0.2334 to 0.2445 (4.76%). Overall, our team ranked second place both in simulation and in the real-world stage. Our code is publicly available at: (https://github.com/inventec-ai-center/inventec-team-barn-challenge-2023.git)
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections