In a Global Navigation Satellite System (GNSS) denied environment, it is difficult to use classical navigation methods as the position of the robot is unknown. This paper presents a robot control method using cycles. The cycle paradigm first proposes to control the robot by making it follow a cycle while its position remains unknown. This cycle is then moved and stabilized using a few measurements in the environment which is assumed to be known. Once the cycle is stable, the position of the robot is easier to estimate. This makes it possible to navigate frugally and stealthily, without getting lost.