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Estimation, Search, and Planning (ESP) Research Group

Papers

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

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  1. Authors
    1. J. D. Gammell
    2. M. P. Strub
    Title
    A survey of asymptotically optimal sampling-based motion planning methods
    Publication
    Journal
    Annual Review of Control, Robotics, and Autonomous Systems
    Volume
    4
    Number
    1
    Date
    Notes
    Invited, To Appear
    PDFs
    PDF
    Google Scholar
    Google Scholar
  2. 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
    Google Scholar
    Google Scholar
  3. 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
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/LRA.2019.2892656
    Google Scholar
    Google Scholar
  4. 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
    Digital Object Identifier (DOI)
    doi: 10.1109/TRO.2018.2830331
    Google Scholar
    Google Scholar
  5. 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
  6. 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. 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
    Digital Object Identifier (DOI)
    doi: 10.29007/jbv7
    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)
    Date
    Code
    Code
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    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)
    Date
    Videos
    Video
    Presentations
    Presentation
    PDFs
    PDF
    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)
    Date
    Notes
    Best Safety, Security, and Rescue Robotics Paper Award Finalist
    PDFs
    PDF
    Google Scholar
    Google Scholar
  5. 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
    Google Scholar
    Google Scholar
  6. 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
    Google Scholar
    Google Scholar
  7. 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
    Digital Object Identifier (DOI)
    doi: 10.1109/IROS.2018.8594213
    Google Scholar
    Google Scholar
  8. 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
    Google Scholar
    Google Scholar
  9. 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
    Digital Object Identifier (DOI)
    doi: 10.1109/ICRA.2016.7487615
    Google Scholar
    Google Scholar
  10. 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
    Google Scholar
    Google Scholar
  11. 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
    Google Scholar
    Google Scholar
  12. 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
  13. 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
    Digital Object Identifier (DOI)
    doi: 10.1109/CRV.2013.37
    Google Scholar
    Google Scholar
  14. 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
    Digital Object Identifier (DOI)
    doi: 10.1109/AERO.2013.6496953
    Google Scholar
    Google Scholar
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  1. 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
  2. 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
    Google Scholar
    Google Scholar
  3. 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
  4. Authors
    1. R. Border
    2. J. D. Gammell
    3. P. Newman
    Title
    Inferring surface geometry from point clouds for next best view (NBV) planning
    Publication
    Conference
    Joint Industry and Robotics CDTs Symposium (JIRCS)
    Location
    Oxford, UK
    Date
    Google Scholar
    Google Scholar
  5. 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
  6. 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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    Google Scholar
  7. 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
  8. 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
    Google Scholar
    Google Scholar
  9. 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
  10. 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
    Google Scholar
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  11. 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
    Google Scholar
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  12. 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
    Google Scholar
    Google Scholar
  13. 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
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  14. 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
  15. 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
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  1. 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
    PDFs
    PDF
  2. Author
    R. Border
    Title
    Next best view planning with an unstructured representation
    Publication
    Type
    D.Phil. Thesis
    School
    University of Oxford
    Date
    PDFs
    PDF
  3. Award
    Author
    J. D. Gammell
    Title
    Informed anytime search for continuous planning problems
    Publication
    Type
    Ph.D. Thesis
    School
    University of Toronto
    Date
    Digital Object Identifier (DOI)
    doi: 1807/78630
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  4. 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
    Digital Object Identifier (DOI)
    doi: 1807/25591
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  1. 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
    PDFs
    PDF
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  2. 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
    PDFs
    PDF
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