Papers

The following is a list of papers published by members of ESP organized by type and then date.

Publications

Journal Papers

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
Date
2021
Notes
Invited
PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
Apr. 2020
Code

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
Apr. 2019
Notes
Presented at ICRA 2019
Data

Videos

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
Aug. 2018
Code

PDFs (Updated)

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
2012
Videos

Digital Object Identifier (DOI)

Google Scholar
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
2006
Digital Object Identifier (DOI)

Google Scholar

Conference Papers

Full-Paper-Refereed

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
24 Oct. 31 Dec. 2020
Code

Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
24 Oct. 31 Dec. 2020
Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
24 Oct. 31 Dec. 2020
Notes
Best Safety, Security, and Rescue Robotics Paper Award Finalist
PDFs

Digital Object Identifier (DOI)

Google Scholar
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
25 Sep. 2020
Digital Object Identifier (DOI)

Google Scholar
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
31 May 31 Aug. 2020
Code

Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
31 May 31 Aug. 2020
Code

Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
15 Oct. 2018
Videos

PDFs (Updated)

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
2125 May 2018
Code

Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
1621 May 2016
Videos

Digital Object Identifier (DOI)

Google Scholar
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
2630 May 2015
Code

Videos

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
1418 Sep. 2014
Code

Videos

Presentations

PDFs

Digital Object Identifier (DOI)

arXiv

Google Scholar
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
2831 May 2013
Videos

Digital Object Identifier (DOI)

Google Scholar
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
2831 May 2013
Digital Object Identifier (DOI)

Google Scholar
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
29 Mar. 2013
Digital Object Identifier (DOI)

Google Scholar

Abstract-Refereed

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
1216 Feb. 2021
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
2830 Oct. 2020
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
24 May 2019
Google Scholar
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
4 Jun. 2018
Google Scholar
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
7 Jun. 2017
Google Scholar
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
13 Jul. 2014
Google Scholar
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
1619 Dec. 2013
Digital Object Identifier (DOI)

Google Scholar
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
10 May 2013
Google Scholar
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
46 Sep. 2012
Videos

Google Scholar
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
46 Sep. 2012
Google Scholar
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
55. L. L. Tornabene
56. T. Unrau
57. D. Veillette
58. K. Young
59. M. Zanetti
Title
A series of robotic and human analogue missions in support of lunar sample return
Publication
Conference
Proceedings of the Lunar and Planetary Science Conference (LPSC)
Location
The Woodlands, TX, USA
Date
1923 Mar. 2012
Google Scholar
Authors
1. A. E. Pickersgill
2. G. R. Osinski
3. M. Beauchamp
4. C. Marion
5. M. M. Mader
6. R. Francis
7. E. McCullough
8. B. Shanker
9. T. D. Barfoot
10. M. Bondy
11. A. Chanou
12. M. Daly
13. H. Dong
14. P. Furgale
15. J. Gammell
16. N. G. N
17. M. Hussein
18. P. Jasiobedski
19. A. Lambert
20. K. Leung
21. C. McManus
22. H. K. Ng
23. A. Pontefract
24. B. Stenning
25. L. L. Tornabene
26. J. Tripp
27. I. Team
Title
Scientific instrumentation for a lunar sample return analogue mission
Publication
Conference
Proceedings of the Lunar and Planetary Science Conference (LPSC)
Location
The Woodlands, TX, USA
Date
1923 Mar. 2012
Google Scholar
Authors
1. B. Stenning
2. G. R. Osinski
3. T. D. Barfoot
4. G. Basic
5. M. Beauchamp
6. M. Daly
7. H. Dong
8. R. Francis
9. P. Furgale
10. J. Gammell
11. N. Ghafoor
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 Lunar and Planetary Science Conference (LPSC)
Location
The Woodlands, TX, USA
Date
1923 Mar. 2012
Google Scholar
Authors
1. J. E. Moores
2. R. Francis
3. T. Barfoot
4. N. Barry
5. G. Basic
6. M. Battler
7. M. Beauchamp
8. S. Blain
9. M. Bondy
10. R. Capitan
11. A. Chanou
12. J. Clayton
13. E. Cloutis
14. M. Daly
15. C. Dickinson
16. H. Dong
17. R. Flemming
18. P. Furgale
19. J. Gammell
20. N. Ghafoor
21. M. Hussein
22. R. Grieve
23. H. Henrys
24. P. Jaziobedski
25. A. Lambert
26. K. Leung
27. M. Mader
28. C. Marion
29. E. McCullough
30. C. McManus
31. C. D. Neish
32. H. K. Ng
33. A. Ozaruk
34. A. Pickersgill
35. L. J. Preston
36. D. Redman
37. H. Sapers
38. B. Shankar
39. A. Singleton
40. K. Souders
41. B. Stenning
42. P. Stooke
43. P. Sylvester
44. L. Tornabene
45. G. R. Osinski
Title
Mission operations design for lunar sample return as field-tested in an analogue deployment to the Sudbury impact structure
Publication
Conference
Proceedings of the European Planetary Science Congress (EPSC-DPS)
Volume
6
Location
Nantes, France
Date
27 Oct. 2011
Google Scholar
Authors
1. R. Saini
2. Z. Jandric
3. J. Gammell
4. C. Baur
5. S. A. Mentink
6. D. Tuggle
Title
Manufacturable MEMS miniSEMs
Publication
Conference
International Conference on Micro- and Nano-engineering
Pages
734–735
Date
Sep. 2005
Authors
1. Z. Jandric
2. R. Saini
3. J. Gammell
4. D. Tuggle
5. G. Skidmore
Title
Scanning electron microscopy - next generation
Publication
Conference
Proceedings of the International Commercialization of Micro-nano Systems (COMS) Conference
Pages
493–499
Date
Aug. 2005

Theses

Author
K. M. Judd
Title
Unifying motion segmentation, estimation, and tracking for complex dynamic scenes
Publication
Type
D.Phil. Thesis
School
University of Oxford
Date
2019
PDFs

Google Scholar
Author
R. Border
Title
Next best view planning with an unstructured representation
Publication
Type
D.Phil. Thesis
School
University of Oxford
Date
2019
PDFs

Google Scholar
Author
J. D. Gammell
Title
Informed anytime search for continuous planning problems
Publication
Type
Ph.D. Thesis
School
University of Toronto
Date
Feb. 2017
Notes
2017 CIPPRS Doctoral Dissertation Award
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Author
J. D. Gammell
Title
Evaluation of a mobile platform for proof-of-concept site selection and preparation
Publication
Type
Master’s Thesis
School
University of Toronto
Date
Nov. 2010
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Technical Reports

Authors
1. M. P. Strub
2. J. D. Gammell
Title
Admissible heuristics for obstacle clearance optimization objectives
Publication
Type
Technical Report
Report Number
TR-2021-MPS001
Organization
Estimation, Search, and Planning (ESP) Research Group, University of Oxford
Date
Apr. 2021
PDFs

arXiv
Authors
1. J. D. Gammell
2. T. D. Barfoot
Title
The probability density function of a transformation-based hyperellipsoid sampling technique
Publication
Type
Technical Report
Report Number
TR-2014-JDG004
Organization
Autonomous Space Robotics Lab, University of Toronto
Date
Apr. 2014
PDFs

arXiv

Google Scholar
Authors
1. J. D. Gammell
2. S. S. Srinivasa
3. T. D. Barfoot
Title
On recursive random prolate hyperspheroids
Publication
Type
Technical Report
Report Number
TR-2014-JDG002
Organization
Autonomous Space Robotics Lab, University of Toronto
Date
Mar. 2014
PDFs

arXiv

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