Welcome

The Estimation, Search, and Planning (ESP) research group is a member of the Oxford Robotics Institute (ORI). We motivate a knowledge-based approach to research by taking on challenging, real-world robotic 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. You may also be interested in our YouTube channel.

Recent News

Dr. Rowan Border

Congratulations to Rowan for finishing his D.Phil. on Next Best View Planning with an Unstructured Representation. Thanks to his examiners Prof. Patric Jensfelt and Prof. Nick Hawes for their time and effort examining his thesis. Well done, Dr. Border.

Adaptively Informed Trees (ICRA 2020)

Marlin Strub has also had his paper on the Adaptively Informed Trees (AIT*) planning algorithm accepted to ICRA 2020. This is the second of two papers he will be presenting in Paris and you can already read it on arXiv and find more details about the code here.

Advanced Batch Informed Trees (ICRA 2020)

Marlin Strub has had two papers on informed, sampling-based planners accepted to ICRA 2020 in Paris, France. His first is on Advanced Batch Informed Trees (ABIT*) and you can read it right now on arXiv and check out our code page if you would like to try it yourself.