Bobbo had sex with his dogs in his sleeping bag, which Kirsty offered to Tyler Steele after Bobbo was arrested. Kirsty was once kicked in the ribs by someone whilst she was in her sleeping bag. (AUDIO: Hostile Environment)
When the Eleventh Doctor and Rory Williams were waiting out the TARDIS repairing herself on the surface of the Moon, the latter slept in a sleeping bag. (COMIC: The Doctor and the Nurse)