Jonathan at the Canadian Space Agency (CSA).
Jonathan at the Canadian Space Agency (CSA).

Jonathan is an experienced field roboticist who has been deploying autonomous robotic systems to challenging environments for over 9 years. His work has taken him across the globe, including to Mauna Kea, Hawai`i, the Canadian Space Agency’s Mars Emulation Terrain, Le Mans, France, and the Olympic Park in London, UK. A map of his field work can be found here.

He is a Departmental Lecturer at ORI, a Stipendiary Lecturer at St. Peter’s College (Oxford), an affiliate researcher at NASA JPL, and a lab scientist at the Creative Destruction Lab (Toronto). His Ph.D. research on path planning included Batch Informed Trees (BIT*), an informed, anytime sampling-based planner that is publicly available in the Open Motion Planning Library (OMPL).

Publications

Journal Papers

  1. K. M. Judd, J. D. Gammell. “The Oxford Multimotion Dataset: Multiple SE(3) motions with ground truth.” IEEE Robotics and Automation Letters (RA-L), 4(2):800–807, Apr. 2019. Presented at ICRA 2019.
  2. J. D. Gammell, T. D. Barfoot, S. S. Srinivasa. “Informed sampling for asymptotically optimal path planning.” IEEE Transactions on Robotics (T-RO), 34(4):966–984, Aug. 2018.
  3. J. D. Gammell, T. D. Barfoot, S. S. Srinivasa. “Informed asymptotically optimal anytime search.” Submitted to the International Journal of Robotics Research (IJRR), 2017. In revision, Manuscript #IJR-17-2980.
  4. J. Moores, R. Francis, M. Mader, G. R. Osinski, T. D. Barfoot, N. Barry, G. Basic, M. Battler, M. Beauchamp, S. Blain, M. Bondy, R. D. Capitan, A. Chanou, J. Clayton, E. Cloutis, M. Daly, C. Dickinson, H. Dong, R. Flemming, P. Furgale, J. Gammell, N. Gharfoor, M. Hussein, R. Grieve, H. Henrys, P. Jaziobedski, A. Lambert, K. Leung, C. Marion, E. McCullough, C. McManus, C. D. Neish, H. H. Ng, A. Ozaruk, A. Pickersgill, L. J. Preston, D. Redman, H. Sapers, B. Shankar, A. Singleton, K. Souders, B. Stenning, P. Stooke, P. Sylvester, L. Tornabene. “A mission control architecture for lunar sample return as field tested in an analogue deployment to the Sudbury impact structure.” Advances in Space Research, special issue on “Lunar Exploration”, 50(12):1666–1686, 2012.

Conference Papers

Full-paper-refereed

  1. R. Border, J. D. Gammell, P. Newman. “Surface Edge Explorer (SEE): Planning next best views directly from 3D observations.” in Proceedings of the IEEE international conference on robotics and automation (ICRA), pp. 1–8, Brisbane, Australia, 21–25 May 2018.
  2. K. M. Judd, J. D. Gammell, P. Newman. “Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions.” in Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 3949–3956, Madrid, Spain, 1–5 Oct. 2018.
  3. S. Choudhury, J. D. Gammell, T. D. Barfoot, S. S. Srinivasa, S. Scherer. “Regionally Accelerated Batch Informed Trees (RABIT*): A framework to integrate local information into optimal path planning.” in Proceedings of the IEEE international conference on robotics and automation (ICRA), pp. 4207–4214, Stockholm, Sweden, 16–21 May 2016.
  4. J. D. Gammell, S. S. Srinivasa, T. D. Barfoot. “Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs.” in Proceedings of the IEEE international conference on robotics and automation (ICRA), pp. 3067–3074, Seattle, WA, USA, 26–30 May 2015.
  5. J. D. Gammell, S. S. Srinivasa, T. D. Barfoot. “Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic.” in Proceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS), pp. 2997–3004, Chicago, IL, USA, 14–18 Sep. 2014.
  6. L. Berczi, J. D. Gammell, C. H. Tong, T. D. Barfoot, M. Daly. “A proof-of-concept, rover-based system for autonomously locating methane gas sources on Mars.” in Proceedings of the international conference on computer and robot vision (CRV), Regina, SK, Canada, 28–31 May 2013.
  7. J. D. Gammell, C. H. Tong, T. D. Barfoot. “Blinded by the light: Exploiting the deficiencies of a laser rangefinder for rover attitude estimation.” in Proceedings of the international conference on computer and robot vision (CRV), pp. 144–150, Regina, SK, Canada, 28–31 May 2013.
  8. J. D. Gammell, C. H. Tong, P. Berczi, S. Anderson, T. D. Barfoot, J. Enright. “Rover odometry aided by a star tracker.” in Proceedings of the IEEE aerospace conference, Big Sky, MT, USA, 2–9 Mar. 2013.

Abstract-refereed

  1. K. M. Judd, J. D. Gammell, P. Newman. “Visual multimotion estimation.” in Joint industry and robotics CDTs symposium (JIRCS), Bristol, UK, 4 Jun. 2018.
  2. R. Border, J. D. Gammell, P. Newman. “Inferring surface geometry from point clouds for next best view (NBV) planning.” in Joint industry and robotics CDTs symposium (JIRCS), Oxford, UK, 7 Jun. 2017.
  3. J. D. Gammell, S. S. Srinivasa, T. D. Barfoot. “BIT*: Sampling-based optimal planning via batch informed trees.” in Proceedings of the information-based grasp and manipulation planning workshop, robotics: Science and systems (RSS), Berkeley, CA, USA, 13 Jul. 2014.
  4. T. D. Barfoot, C. McManus, S. Anderson, H. Dong, E. Beerepoot, C. H. Tong, P. Furgale, J. D. Gammell, J. Enright. “Into darkness: Visual navigation based on a lidar-intensity-image pipeline.” in Proceedings of the international symposium on robotics research (ISRR), Singapore, 16–19 Dec. 2013.
  5. T. D. Barfoot, B. E. Stenning, J. D. Gammell, C. H. Tong, C. McManus, L. Berczi, G. R. Osinski, M. Daly, C. Dickinson. “Place revisiting for planetary rovers: An enabling technology and field testing of three mission concepts.” in Proceedings of the planetary rovers workshop, IEEE international conference on robotics and automation (ICRA), Karlsruhe, Germany, 10 May 2013.
  6. C. L. Marion, G. R. Osinski, S. Abou-Aly, I. Antonenko, T. Barfoot, N. Barry, A. Bassi, M. Battler, M. Beauchamp, M. Bondy, S. Blain, R. Capitan, E. Cloutis, L. Cupelli, A. Chanou, J. Clayton, M. Daly, H. Dong, L. Ferriere, R. Flemming, L. Flynn, R. Francis, P. Furgale, J. Gammell, A. Garbino, N. Ghafoor, R. A. F. Grieve, K. Hodges, M. Hussein, P. Jasiobedzki, B. L. Jolliff, M. C. Kerrigan, A. Lambert, K. Leung, M. M. Mader, E. McCullough, C. McManus, J. Moores, H. K. Ng, C. Otto, A. Ozaruk, A. E. Pickersgill, A. Pontefract, L. J. Preston, D. Redman, H. Sapers, B. Shankar, C. Shaver, A. Singleton, K. Souders, B. Stenning, P. Stooke, P. Sylvester, J. Tripp, L. L. Tornabene, T. Unrau, D. Veillette, K. Young, M. Zanetti. “A series of robotic and human analogue missions in support of lunar sample return.” in Proceedings of the 43rd lunar and planetary science conference (LPSC), The Woodlands, TX, USA, 19–23 Mar. 2012.
  7. R. S. Merali, C. H. Tong, J. Gammell, J. Bakambu, E. Dupuis, T. D. Barfoot. “3D surface mapping using a semi-autonomous rover: A planetary analog field experiment.” in Proceedings of the 2012 international symposium on artificial intelligence, robotics and automation in space (i-SAIRAS), Turin, Italy, 4–6 Sep. 2012.
  8. A. E. Pickersgill, G. R. Osinski, M. Beauchamp, C. Marion, M. M. Mader, R. Francis, E. McCullough, B. Shanker, T. D. Barfoot, M. Bondy, A. Chanou, M. Daly, H. Dong, P. Furgale, J. Gammell, N. G. N, M. Hussein, P. Jasiobedski, A. Lambert, K. Leung, C. McManus, H. K. Ng, A. Pontefract, B. Stenning, L. L. Tornabene, J. Tripp, I. Team. “Scientific instrumentation for a lunar sample return analogue mission.” in Proceedings of the 43rd lunar and planetary science conference (LPSC), The Woodlands, TX, USA, 19–23 Mar. 2012.
  9. B. Stenning, G. R. Osinski, T. D. Barfoot, G. Basic, M. Beauchamp, M. Daly, H. Dong, R. Francis, P. Furgale, J. Gammell, N. Ghafoor, A. Lambert, K. Leung, M. Mader, C. Marion, E. McCullough, C. McManus, J. Moores, L. Preston. “Planetary surface exploration using a network of reusable paths.” in Proceedings of the 43rd lunar and planetary science conference (LPSC), The Woodlands, TX, USA, 19–23 Mar. 2012.
  10. B. Stenning, G. R. Osinski, T. D. Barfoot, G. Basic, M. Beauchamp, M. Daly, R. Francis, P. Furgale, J. Gammell, N. Ghafoor, P. Jasiobedzki, A. Lambert, K. Leung, M. Mader, C. Marion, E. McCullough, C. McManus, J. Moores, L. Preston. “Planetary surface exploration using a network of reusable paths.” in Proceedings of the 2012 international symposium on artificial intelligence, robotics and automation in space (i-SAIRAS), Turin, Italy, 4–6 Sep. 2012.
  11. J. E. Moores, R. Francis, T. Barfoot, N. Barry, G. Basic, M. Battler, M. Beauchamp, S. Blain, M. Bondy, R. Capitan, A. Chanou, J. Clayton, E. Cloutis, M. Daly, C. Dickinson, H. Dong, R. Flemming, P. Furgale, J. Gammell, N. Ghafoor, M. Hussein, R. Grieve, H. Henrys, P. Jaziobedski, A. Lambert, K. Leung, M. Mader, C. Marion, E. McCullough, C. McManus, C. D. Neish, H. K. Ng, A. Ozaruk, A. Pickersgill, L. J. Preston, D. Redman, H. Sapers, B. Shankar, A. Singleton, K. Souders, B. Stenning, P. Stooke, P. Sylvester, L. Tornabene, G. R. Osinski. “Mission operations design for lunar sample return as field-tested in an analogue deployment to the Sudbury impact structure.” in Proceedings of the european planetary science congress (EPSC-DPS), pp. 1728, Nantes, France, 2–7 Oct. 2011.
  12. Z. Jandric, R. Saini, J. Gammell, D. Tuggle, G. Skidmore. “Scanning electron microscopy - next generation.” in Proceedings of 10th international commercialization of micro-nano systems (COMS) conference, pp. 493–499, Aug. 2005.
  13. R. Saini, Z. Jandric, J. Gammell, C. Baur, S. A. Mentink, D. Tuggle. “Manufacturable MEMS miniSEMS.” in International conference on micro- and nano-engineering, pp. 734–735, Sep. 2005.

Theses

  1. J. D. Gammell. “Informed anytime search for continuous planning problems.” Ph.D. thesis, University of Toronto, Feb. 2017. 2017 CIPPRS Doctoral Dissertation Award.
  2. J. D. Gammell. “Evaluation of a mobile platform for proof-of-concept site selection and preparation.” Master’s thesis, University of Toronto, Nov. 2010.

Technical Reports

  1. J. D. Gammell, T. D. Barfoot. “The probability density function of a transformation-based hyperellipsoid sampling technique.” Technical Report TR-2014-JDG004, Autonomous Space Robotics Lab, University of Toronto, Apr. 2014.
  2. J. D. Gammell, S. S. Srinivasa, T. D. Barfoot. “On recursive random prolate hyperspheroids.” Technical Report TR-2014-JDG002, Autonomous Space Robotics Lab, University of Toronto, Mar. 2014.