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Estimation, Search, and Planning (ESP) Research Group

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Marlin Strub

Marlin Strub at NASA JPL with the engineering model of Curiosity.
  1. D.Phil. Engineering Candidate (Estimation Search and Planning Group, Oxford Robotics Institute, University of Oxford)
  2. M.Sc. Robotics, Systems, and Control (Vision for Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich)
  3. B.Sc. Mechanical Engineering (Autonomous Systems Lab, Institute of Robotics and Intelligent Systems, ETH Zurich)
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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
    Presented at IROS 2022
    Code
    Code
    Presentations
    Presentation
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1109/LRA.2022.3199676
    arXiv
    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 (Recommended)
    PDF (original formatting)
    Digital Object Identifier (DOI)
    doi: 10.1177/02783649211069572
    arXiv
    Google Scholar
    Google Scholar
  3. 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
    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)
    Series
    Springer Proceedings in Advanced Robotics (SPAR)
    Volume
    27
    Pages
    555–571
    Location
    Geneva, Switzerland
    Date
    Code
    Code
    Videos
    Video
    PDFs
    PDF
    Digital Object Identifier (DOI)
    doi: 10.1007/978-3-031-25555-7_37
    arXiv
    Google Scholar
    Google Scholar
  2. 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
  3. 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
    Google Scholar
    Google Scholar
  4. 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
    Google Scholar
    Google Scholar
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  1. Authors
    1. J. D. Gammell
    2. M. P. Strub
    3. V. N. Hartmann
    Title
    Planner Developer Tools (PDT): Reproducible experiments and statistical analysis for developing and testing motion planners
    Publication
    Conference
    Proceedings of the Workshop on Evaluating Motion Planning Performance (EMPP), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Location
    Kyoto, Japan
    Date
    Code
    Code
    PDFs
    PDF
    Google Scholar
    Google Scholar
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  1. Author
    M. P. Strub
    Title
    Leveraging multiple sources of information to search continuous spaces
    Publication
    Type
    D.Phil. Thesis
    School
    University of Oxford
    Date
    PDFs
    PDF
    Google Scholar
    Google Scholar
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  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
    arXiv
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    Google Scholar