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Estimation, Search, and Planning (ESP) Research Group

  1. ESP

Papers

The following is a list of all papers published by members of ESP, organized by type and then date. You can find a list of each author's papers on their individual page.

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  1. Authors
    1. R. Border
    2. J. D. Gammell
    Title
    The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning
    Publication
    Journal
    The International Journal of Robotics Research (IJRR)
    Date
    Notes
    Submitted, Manuscript #IJR-22-4541
    Code
    Code
    Videos
    Video
    Playlists
    Videos (Extensions)
    PDFs
    PDF
    arXiv
    arXiv: 2207.13684 [cs.RO]
    Google Scholar
    Google Scholar
  2. Authors
    1. K. M. Judd
    2. J. D. Gammell
    Title
    Multimotion Visual Odometry (MVO)
    Publication
    Journal
    The International Journal of Robotics Research (IJRR)
    Date
    Notes
    Submitted, Manuscript #IJR-21-4311
    Videos
    Video
    Playlists
    Videos (Extensions)
    PDFs
    PDF
    arXiv
    arXiv: 2110.15169 [cs.RO]
    Google Scholar
    Google Scholar
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  1. Authors
    1. W. Thomason
    2. M. P. Strub
    3. J. D. Gammell
    Title
    Task and Motion Informed Trees (TMIT*): Almost-surely asymptotically optimal integrated task and motion planning
    Publication
    Journal
    IEEE Robotics and Automation Letters (RA-L)
    Volume
    7
    Number
    4
    Pages
    11370–11377
    Date
    Notes
    To be presented at IROS 2022
    Code
    Code
    Digital Object Identifier (DOI)
    doi: 10.1109/LRA.2022.3199676
    Google Scholar
    Google Scholar
  2. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Adaptively Informed Trees (AIT*) and Effort Informed Trees (EIT*): Asymmetric bidirectional sampling-based path planning
    Publication
    Journal
    The International Journal of Robotics Research (IJRR)
    Volume
    41
    Number
    4
    Pages
    390–417
    Date
    Code
    Videos
    Video
    Playlists
    Videos (Extensions)
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1177/02783649211069572
    arXiv
    arXiv: 2111.01877 [cs.RO]
    Google Scholar
    Google Scholar
  3. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    The Oxford domed lateral unicompartmental knee replacement implant: Increasing wall height reduces the risk of bearing dislocation
    Publication
    Journal
    Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
    Volume
    236
    Number
    3
    Pages
    349–355
    Date
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1177/09544119211048558
    Google Scholar
    Google Scholar
  4. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement
    Publication
    Journal
    Scientific Reports
    Volume
    12
    Number
    1
    Pages
    2068
    Date
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1038/s41598-022-05938-w
    Google Scholar
    Google Scholar
  5. Authors
    1. J. D. Gammell
    2. M. P. Strub
    Title
    Asymptotically optimal sampling-based motion planning methods
    Publication
    Journal
    Annual Review of Control, Robotics, and Autonomous Systems
    Volume
    4
    Number
    1
    Pages
    295–318
    Date
    Notes
    Invited
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1146/annurev-control-061920-093753
    arXiv
    arXiv: 2009.10484 [cs.RO]
    Google Scholar
    Google Scholar
  6. Authors
    1. J. D. Gammell
    2. T. D. Barfoot
    3. S. S. Srinivasa
    Title
    Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search
    Publication
    Journal
    The International Journal of Robotics Research (IJRR)
    Volume
    39
    Number
    5
    Pages
    543–567
    Date
    Code
    Code
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1177/0278364919890396
    arXiv
    arXiv: 1707.01888 [cs.RO]
    Google Scholar
    Google Scholar
  7. Authors
    1. K. M. Judd
    2. J. D. Gammell
    Title
    The Oxford Multimotion Dataset: Multiple SE(3) motions with ground truth
    Publication
    Journal
    IEEE Robotics and Automation Letters (RA-L)
    Volume
    4
    Number
    2
    Pages
    800–807
    Date
    Notes
    Presented at ICRA 2019
    Data
    Data
    Videos
    Video
    Playlists
    Videos (Data)
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/LRA.2019.2892656
    arXiv
    arXiv: 1901.01445 [cs.RO]
    Google Scholar
    Google Scholar
  8. Authors
    1. J. D. Gammell
    2. T. D. Barfoot
    3. S. S. Srinivasa
    Title
    Informed sampling for asymptotically optimal path planning
    Publication
    Journal
    IEEE Transactions on Robotics (T-RO)
    Volume
    34
    Number
    4
    Pages
    966–984
    Date
    Code
    Code
    PDFs (Updated)
    PDF (extended version)
    Digital Object Identifier (DOI)
    doi: 10.1109/TRO.2018.2830331
    arXiv
    arXiv (extended version): 1706.06454 [cs.RO]
    Google Scholar
    Google Scholar
  9. Authors
    1. J. Moores
    2. R. Francis
    3. M. Mader
    4. G. R. Osinski
    5. T. D. Barfoot
    6. N. Barry
    7. G. Basic
    8. M. Battler
    9. M. Beauchamp
    10. S. Blain
    11. M. Bondy
    12. R. D. Capitan
    13. A. Chanou
    14. J. Clayton
    15. E. Cloutis
    16. M. Daly
    17. C. Dickinson
    18. H. Dong
    19. R. Flemming
    20. P. Furgale
    21. J. Gammell
    22. N. Gharfoor
    23. M. Hussein
    24. R. Grieve
    25. H. Henrys
    26. P. Jaziobedski
    27. A. Lambert
    28. K. Leung
    29. C. Marion
    30. E. McCullough
    31. C. McManus
    32. C. D. Neish
    33. H. H. Ng
    34. A. Ozaruk
    35. A. Pickersgill
    36. L. J. Preston
    37. D. Redman
    38. H. Sapers
    39. B. Shankar
    40. A. Singleton
    41. K. Souders
    42. B. Stenning
    43. P. Stooke
    44. P. Sylvester
    45. L. Tornabene
    Title
    A mission control architecture for lunar sample return as field tested in an analogue deployment to the Sudbury impact structure
    Publication
    Journal
    Advances in Space Research, Special Issue on “Lunar Exploration”
    Volume
    50
    Number
    12
    Pages
    1666–1686
    Date
    Videos
    Video
    Digital Object Identifier (DOI)
    doi: 10.1016/J.ASR.2012.05.008
    Google Scholar
    Google Scholar
  10. Authors
    1. R. Saini
    2. Z. Jandric
    3. J. Gammell
    4. S. A. M. Mentink
    5. D. Tuggle
    Title
    Manufacturable MEMS miniSEMs
    Publication
    Journal
    Microelectronic Engineering
    Volume
    83
    Number
    4
    Pages
    1376–1381
    Date
    Digital Object Identifier (DOI)
    doi: 10.1016/J.MEE.2006.01.260
    Google Scholar
    Google Scholar
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  1. Authors
    1. V. N. Hartmann
    2. M. P. Strub
    3. M. Toussaint
    4. J. D. Gammell
    Title
    Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort
    Publication
    Conference
    Proceedings of the International Symposium on Robotics Research (ISRR)
    Location
    Geneva, Switzerland
    Date
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    arXiv
    arXiv: 2205.08480 [cs.RO]
    Google Scholar
    Google Scholar
  2. Authors
    1. R. Border
    2. J. D. Gammell
    Title
    Proactive estimation of occlusions and scene coverage for planning next best views in an unstructured representation
    Publication
    Conference
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages
    4219–4226
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS45743.2020.9341681
    arXiv
    arXiv: 2009.04515 [cs.RO]
    Google Scholar
    Google Scholar
  3. Authors
    1. K. M. Judd
    2. J. D. Gammell
    Title
    Occlusion-robust MVO: Multimotion estimation through occlusion via motion closure
    Publication
    Conference
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages
    5855–5862
    Date
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS45743.2020.9341355
    arXiv
    arXiv: 1905.05121 [cs.RO]
    Google Scholar
    Google Scholar
  4. Award
    Authors
    1. M. Paton
    2. M. P. Strub
    3. T. Brown
    4. R. J. Greene
    5. J. Lizewski
    6. V. Patel
    7. J. D. Gammell
    8. I. A. D. Nesnas
    Title
    Navigation on the line: Traversability analysis and path planning for extreme-terrain rappelling rovers
    Publication
    Conference
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages
    7034–7041
    Date
    Notes
    Best Safety, Security, and Rescue Robotics Paper Award Finalist
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS45743.2020.9341409
    Google Scholar
    Google Scholar
  5. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    Using a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement
    Publication
    Conference
    Proceedings of the Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery (CAOS)
    Series
    EPiC Series in Health Sciences
    Volume
    4
    Pages
    301–305
    Date
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.29007/jbv7
    Google Scholar
    Google Scholar
  6. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Advanced BIT* (ABIT*): Sampling-based planning with advanced graph-search techniques
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    130–136
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA40945.2020.9196580
    arXiv
    arXiv: 2002.06589 [cs.RO]
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    Google Scholar
  7. Authors
    1. M. P. Strub
    2. J. D. Gammell
    Title
    Adaptively Informed Trees (AIT*): Fast asymptotically optimal path planning through adaptive heuristics
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    3191–3198
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA40945.2020.9197338
    arXiv
    arXiv: 2002.06599 [cs.RO]
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    Google Scholar
  8. Authors
    1. K. M. Judd
    2. J. D. Gammell
    3. P. Newman
    Title
    Multimotion Visual Odometry (MVO): Simultaneous estimation of camera and third-party motions
    Publication
    Conference
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages
    3949–3956
    Location
    Madrid, Spain
    Date
    Videos
    Video
    PDFs (Updated)
    PDF (corrected version)
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS.2018.8594213
    arXiv
    arXiv (corrected version): 1808.00274 [cs.RO]
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  9. Authors
    1. R. Border
    2. J. D. Gammell
    3. P. Newman
    Title
    Surface Edge Explorer (SEE): Planning next best views directly from 3D observations
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    1–8
    Location
    Brisbane, Australia
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA.2018.8461098
    arXiv
    arXiv: 1802.08617 [cs.RO]
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    Google Scholar
  10. Authors
    1. S. Choudhury
    2. J. D. Gammell
    3. T. D. Barfoot
    4. S. S. Srinivasa
    5. S. Scherer
    Title
    Regionally Accelerated Batch Informed Trees (RABIT*): A framework to integrate local information into optimal path planning
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    4207–4214
    Location
    Stockholm, Sweden
    Date
    Videos
    Video
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA.2016.7487615
    Google Scholar
    Google Scholar
  11. Authors
    1. J. D. Gammell
    2. S. S. Srinivasa
    3. T. D. Barfoot
    Title
    Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs
    Publication
    Conference
    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
    Pages
    3067–3074
    Location
    Seattle, WA, USA
    Date
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA.2015.7139620
    arXiv
    arXiv: 1405.5848 [cs.RO]
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    Google Scholar
  12. Authors
    1. J. D. Gammell
    2. S. S. Srinivasa
    3. T. D. Barfoot
    Title
    Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic
    Publication
    Conference
    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages
    2997–3004
    Location
    Chicago, IL, USA
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS.2014.6942976
    arXiv
    arXiv: 1404.2334 [cs.RO]
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    Google Scholar
  13. Authors
    1. L. Berczi
    2. J. D. Gammell
    3. C. H. Tong
    4. T. D. Barfoot
    5. M. Daly
    Title
    A proof-of-concept, rover-based system for autonomously locating methane gas sources on Mars
    Publication
    Conference
    Proceedings of the International Conference on Computer and Robot Vision (CRV)
    Location
    Regina, SK, Canada
    Date
    Videos
    Video
    Digital Object Identifier (DOI)
    doi: 10.1109/CRV.2013.16
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    Google Scholar
  14. Authors
    1. J. D. Gammell
    2. C. H. Tong
    3. T. D. Barfoot
    Title
    Blinded by the light: Exploiting the deficiencies of a laser rangefinder for rover attitude estimation
    Publication
    Conference
    Proceedings of the International Conference on Computer and Robot Vision (CRV)
    Pages
    144–150
    Location
    Regina, SK, Canada
    Date
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/CRV.2013.37
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    Google Scholar
  15. Authors
    1. J. D. Gammell
    2. C. H. Tong
    3. P. Berczi
    4. S. Anderson
    5. T. D. Barfoot
    6. J. Enright
    Title
    Rover odometry aided by a star tracker
    Publication
    Conference
    Proceedings of the IEEE Aerospace Conference
    Location
    Big Sky, MT, USA
    Date
    PDFs (Updated)
    PDF (corrected version)
    Digital Object Identifier (DOI)
    doi: 10.1109/AERO.2013.6496953
    Google Scholar
    Google Scholar
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  1. Authors
    1. R. Border
    2. J. D. Gammell
    Title
    Autonomous aerial mapping and its applications for emergency response
    Publication
    Conference
    Proceedings of the Workshop on Cyber-Physical Systems for Emergency Response, Cyber-Physical Systems and Internet-of-Things (CPS-IoT) Week
    Date
    Google Scholar
    Google Scholar
  2. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    A novel computational dislocation analysis tool using robotics path planning algorithms for mobile bearing lateral unicompartmental knee replacement surgery
    Publication
    Conference
    Proceedings of the Orthopedic Research Society (ORS) Annual Meeting
    Location
    Tampa, FL, USA
    Date
    Google Scholar
    Google Scholar
  3. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    Modifying the design of the Oxford domed lateral unicompartmental knee replacement implant reduces the risk of medial bearing dislocation
    Publication
    Conference
    Proceedings of the British Orthopaedic Research Society (BORS) Annual Meeting
    Date
    Notes
    Podium presentation
    Digital Object Identifier (DOI)
    doi: 10.1302/1358-992X.2021.16.020
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  4. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. W. Murray
    4. S. J. Mellon
    Title
    The Oxford domed lateral implant: Increasing tibial component wall height reduces the risk of medial dislocation of the mobile bearing
    Publication
    Conference
    Proceedings of the Orthopedic Research Society (ORS) Annual Meeting
    Date
    Google Scholar
    Google Scholar
  5. Authors
    1. I. Yang
    2. J. D. Gammell
    3. D. Murray
    4. S. Mellon
    Title
    Assessing dislocation of the mobile bearing in the Oxford domed lateral implant using robotics path planning algorithms
    Publication
    Conference
    Proceedings of the Virtual European Federation of National Associations of Orthopaedics and Traumatology (EFORT) Congress (VEC)
    Date
    Google Scholar
    Google Scholar
  6. Authors
    1. K. M. Judd
    2. J. D. Gammell
    Title
    SE(3) multimotion estimation through occlusion
    Publication
    Conference
    Proceedings of the Long-Term Human Motion Prediction (LHMP) Workshop, IEEE International Conference on Robotics and Automation (ICRA)
    Location
    Montréal, QC, Canada
    Date
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  7. Authors
    1. K. M. Judd
    2. J. D. Gammell
    3. P. Newman
    Title
    Visual multimotion estimation
    Publication
    Conference
    Joint Industry and Robotics CDTs Symposium (JIRCS)
    Location
    Bristol, UK
    Date
    Google Scholar
    Google Scholar
  8. Authors
    1. R. Border
    2. J. D. Gammell
    3. P. Newman
    Title
    Inferring surface geometry from point clouds for next best view planning
    Publication
    Conference
    Joint Industry and Robotics CDTs Symposium (JIRCS)
    Location
    Oxford, UK
    Date
    Google Scholar
    Google Scholar
  9. Authors
    1. J. D. Gammell
    2. S. S. Srinivasa
    3. T. D. Barfoot
    Title
    BIT*: Sampling-based optimal planning via Batch Informed Trees
    Publication
    Conference
    Proceedings of the Information-Based Grasp and Manipulation Planning Workshop, Robotics: Science and Systems (RSS)
    Location
    Berkeley, CA, USA
    Date
    Google Scholar
    Google Scholar
  10. Authors
    1. T. D. Barfoot
    2. C. McManus
    3. S. Anderson
    4. H. Dong
    5. E. Beerepoot
    6. C. H. Tong
    7. P. Furgale
    8. J. D. Gammell
    9. J. Enright
    Title
    Into darkness: Visual navigation based on a lidar-intensity-image pipeline
    Publication
    Conference
    Proceedings of the International Symposium on Robotics Research (ISRR)
    Series
    Springer Tracts in Advanced Robotics (STAR)
    Volume
    114
    Pages
    487–504
    Location
    Singapore
    Date
    Digital Object Identifier (DOI)
    doi: 10.1007/978-3-319-28872-7_28
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  11. Authors
    1. T. D. Barfoot
    2. B. E. Stenning
    3. J. D. Gammell
    4. C. H. Tong
    5. C. McManus
    6. L. Berczi
    7. G. R. Osinski
    8. M. Daly
    9. C. Dickinson
    Title
    Place revisiting for planetary rovers: An enabling technology and field testing of three mission concepts
    Publication
    Conference
    Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA)
    Location
    Karlsruhe, Germany
    Date
    Google Scholar
    Google Scholar
  12. Authors
    1. R. S. Merali
    2. C. H. Tong
    3. J. Gammell
    4. J. Bakambu
    5. E. Dupuis
    6. T. D. Barfoot
    Title
    3D surface mapping using a semi-autonomous rover: A planetary analog field experiment
    Publication
    Conference
    Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)
    Location
    Turin, Italy
    Date
    Videos
    Video
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  13. Authors
    1. B. Stenning
    2. G. R. Osinski
    3. T. D. Barfoot
    4. G. Basic
    5. M. Beauchamp
    6. M. Daly
    7. R. Francis
    8. P. Furgale
    9. J. Gammell
    10. N. Ghafoor
    11. P. Jasiobedzki
    12. A. Lambert
    13. K. Leung
    14. M. Mader
    15. C. Marion
    16. E. McCullough
    17. C. McManus
    18. J. Moores
    19. L. Preston
    Title
    Planetary surface exploration using a network of reusable paths
    Publication
    Conference
    Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)
    Location
    Turin, Italy
    Date
    Google Scholar
    Google Scholar
  14. Authors
    1. C. L. Marion
    2. G. R. Osinski
    3. S. Abou-Aly
    4. I. Antonenko
    5. T. Barfoot
    6. N. Barry
    7. A. Bassi
    8. M. Battler
    9. M. Beauchamp
    10. M. Bondy
    11. S. Blain
    12. R. Capitan
    13. E. Cloutis
    14. L. Cupelli
    15. A. Chanou
    16. J. Clayton
    17. M. Daly
    18. H. Dong
    19. L. Ferriere
    20. R. Flemming
    21. L. Flynn
    22. R. Francis
    23. P. Furgale
    24. J. Gammell
    25. A. Garbino
    26. N. Ghafoor
    27. R. A. F. Grieve
    28. K. Hodges
    29. M. Hussein
    30. P. Jasiobedzki
    31. B. L. Jolliff
    32. M. C. Kerrigan
    33. A. Lambert
    34. K. Leung
    35. M. M. Mader
    36. E. McCullough
    37. C. McManus
    38. J. Moores
    39. H. K. Ng
    40. C. Otto
    41. A. Ozaruk
    42. A. E. Pickersgill
    43. A. Pontefract
    44. L. J. Preston
    45. D. Redman
    46. H. Sapers
    47. B. Shankar
    48. C. Shaver
    49. A. Singleton
    50. K. Souders
    51. B. Stenning
    52. P. Stooke
    53. P. Sylvester
    54. J. Tripp
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    59. M. Zanetti
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