Welcome to the Estimation, Search, and Planning (ESP) research group, a member of the Oxford Robotics Institute (ORI). We motivate a knowledge-based approach to robotics research by taking on challenging, real-world problems. We do this to test our solutions and force us to understand the fundamental challenges of next-generation robots.
Please have a look around our website to find out more about who we are and what we do, including our publicly available code and datasets. You may also be interested in our Twitter, YouTube, and GitHub accounts.
Jonathan was invited to survey the popular field of asymptotically optimal sampling-based motion planning algorithms in the Annual Review of Control, Robotics, and Autonomous Systems. The paper will be published in 2021, but you can read a preprint of it on arXiv now.
Rowan has a great new paper on how to estimate occlusions and view coverage in density-based next best view (NBV) algorithms at IROS 2020. The full paper is already available on arXiv and you can also download the code to try it yourself.
Jon and Marlin have had a paper from their collaboration with the NASA Jet Propulsion Laboratory (JPL) Robotic Surface Mobility group accepted to IROS 2020. You can read a preprint of the paper and look at some photos from the work in the Mojave Desert on Axel/DuAxel.
