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.
Rowan has submitted a journal paper on the Surface Edge Explorer (SEE) to IJRR. It not only contains all the latest advances to the open source code but also really detailed simulations and experiments. Please check out the trailer video or multimedia extensions on YouTube and the paper preprint on arXiv.
Congratulations to Marlin, whose paper on asymmetric bidirectional planning has just appeared in IJRR. You can watch a short trailer video of the work on YouTube and check out the open-source code (AIT*, EIT*). If you want to find out even more, the paper is on arXiv and the multimedia extensions are on YouTube.
Jonathan has been working with Valentin Hartmann to extend Marlin's work on effort-informed planning to multiquery problems. Their Effort Informed Roadmaps (EIRM*) can solve individual problems an order-of-magnitude faster and has been submitted to ISRR 2022. If you'd like to know more you can watch the trailer video on YouTube, read the paper on arXiv, and checkout the code. Valentin is a Ph.D. student in Marc Toussaint's Learning and Intelligent Systems (LIS) lab at TUBerlin.
