Jump to Content
  1. Oxford
  2. MPLS
  3. Eng. Sci.
  4. ORI

Estimation, Search, and Planning (ESP) Research Group

Marlin Strub

Marlin Strub at NASA JPL with the engineering model of Curiosity.

My research focuses on path and motion planning for robotic systems, i.e., I study the question of how robots should move to reach a desired goal. I'm interested in theoretically sound algorithms with provable bounds on their optimality and prefer C++ over any other programming language.

Return to Top
Return to Top
  1. 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
    Google Scholar
    Google Scholar
Return to Top
Return to Top
  1. 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
  2. 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
  3. 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
Return to Top
  1. 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
    PDFs
    PDF
    Google Scholar
    Google Scholar