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The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place atthe 2023 IEEE International Conference on Robotics and Automation (ICRA 2023)in London, UK and continued to evaluate the performance of state-of-the-artautonomous ground navigation systems in highly constrained environments.Compared to The 1st BARN Challenge at ICRA 2022 in Philadelphia, thecompetition has grown significantly in size, doubling the numbers ofparticipants in both the simulation qualifier and physical finals: Ten teamsfrom all over the world participated in the qualifying simulation competition,six of which were invited to compete with each other in three physical obstaclecourses at the conference center in London, and three teams won the challengeby navigating a Clearpath Jackal robot from a predefined start to a goal withthe shortest amount of time without colliding with any obstacle. Thecompetition results, compared to last year, suggest that the teams are makingprogress toward more robust and efficient ground navigation systems that workout-of-the-box in many obstacle environments. However, a significant amount offine-tuning is still needed onsite to cater to different difficult navigationscenarios. Furthermore, challenges still remain for many teams when facingextremely cluttered obstacles and increasing navigation speed. In this article,we discuss the challenge, the approaches used by the three winning teams, andlessons learned to direct future research.

Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023