Jonathan Gammell

/Jonathan Gammell

Jonathan is a Departmental Lecturer in Robotics and leads ORI’s ESP Lab.

Biography

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 and a lab scientist at the Creative Destruction Lab (Toronto). He holds a Ph.D. and M.A.Sc. in Aerospace Science & Engineering from the University of Toronto and a B.A.Sc. in Mechanical Engineering from the University of Waterloo. 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

    • Gammell J D, Barfoot T D, Srinivasa S S. “Informed Sampling for Asymptotically Optimal Path Planning.” IEEE Transactions on Robotics (T-RO), 2018 To appear. doi:10.1109/TRO.2018.2830331. (pdf)
    • Gammell J D, Barfoot T D, Srinivasa S S. “Informed Asymptotically Optimal Anytime Search.” International Journal of Robotics Research (IJRR), 2018 In Revision. Manuscript #IJR-17-2980, arXiv: 1707.01888 [cs.RO] (pdf)
    • Judd K M, Gammell J D, Newman P “Multimotion Visual Odometry: Simultaneous Estimation of Camera and Third-Party Motions” In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 Oct. 2018. To appear.
    • Judd K M, Gammell J D, Newman P “Visual Multimotion Estimation” In Proceedings of the Joint Industry and Robotics {CDT}s Symposium (JIRCS), Bristol, United Kingdom, 4 June 2018. (pdf)
    • Border R, Gammell J D, Newman P “Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations.” In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 21-25 May 2018. (pdf)
    • Border R, Gammell J D, Newman P “Inferring surface geometry from point clouds for next best view ({NBV}) planning” In Proceedings of the Joint Industry and Robotics {CDT}s Symposium (JIRCS), Oxford, United Kingdom, 7 June 2017. (pdf)
    • Gammell J D. “Informed Anytime Search for Continuous Planning Problems”. Ph.D. Thesis, University of Toronto, 2017. doi:1807/78630. (pdf)
    • Choudhury S, Gammell J D, Barfoot T D, Srinivasa S S, Scherer S. “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. doi:10.1109/ICRA.2016.7487615. (pdf)
    • Gammell J D, Srinivasa S S, Barfoot T D. “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, 26-31 May 2015. doi:10.1109/ICRA.2015.7139620. (video, pdf)
    • Gammell J D, Srinivasa S S, and Barfoot T D. “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 Sept. 2014. doi:10.1109/IROS.2014.6942976. (video 1, video 2, pdf)
    • Gammell J D, Srinivasa S S, and Barfoot T D. “BIT*: Batch Informed Trees.” In Proceedings of the Information-based Grasp and Manipulation Planning Workshop, Robotics: Science and Systems (RSS). Berkeley, CA, USA, 13 July 2014. (pdf), poster)
    • Gammell J D, Barfoot T D. “The Probability Density Function of a Transformation-based Hyperellipsoid Sampling Technique”. Technical Report TR-2014-JDG004, University of Toronto, 2014. arXiv:1404.1347 [math.ST]. (pdf)
    • Gammell J D, Srinivasa S S, Barfoot T D. “On Recursive Random Prolate Hyperspheroids”. Technical Report TR-2014-JDG002, University of Toronto, 2014. arXiv:1403.7664 [math.ST]. (pdf)
    • Barfoot T D, McManus C, Anderson S, Dong H, Beerepoot E, Tong C H, Furgale P, Gammell J D, and Enright J. “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. (pdf)
    • Gammell J D, Tong C, and Barfoot T D. “Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation.” In Proceedings of the 10th Conference on Computer and Robot Vision (CRV), pp. 144-150. Regina, SK, Canada, 28-31 May 2013. doi:10.1109/CRV.2013.37. (pdf)
    • Berczi L-P, Gammell J D, Tong C, Daly M, and Barfoot T D. “A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars.” In Proceedings of the 10th Conference on Computer and Robot Vision (CRV), pp. 29-36. Regina, SK, Canada, 28-31 May 2013. doi:10.1109/CRV.2013.16. (pdf)
    • Barfoot T D, Stenning B E, Gammell J D, Tong C H, McManus C, Berczi L P, Osinski G R, Daly M, and Dickinson C. “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. (pdf)
    • Gammell J D, Tong C H, Berczi P, Anderson S, Barfoot T D, and Enright J. “Rover Odometry Aided by a Star Tracker.” In Proceedings of the IEEE Aerospace Conference, pp. 1-10. Big Sky, MT, USA, 2-9 March 2013. doi:10.1109/AERO.2013.6496953. (pdf)
    • Moores J, Francis R, Mader M, Osinski G R, Barfoot T D, Barry N, Basic G, Battler M, Beauchamp M, Blain S, Bondy M, Capitan R D, Chanou A, Clayton J, Cloutis E, Daly M, Dickinson C, Dong H, Flemming R, Furgale P, Gammell J, Gharfoor N, Hussein M, Grieve R, Henrys H, Jaziobedski P, Lambert A, Leung K, Marion C, McCullough E, McManus C, Neish C D, Ng H H, Ozaruk A, Pickersgill A, Preston L J, Redman D, Sapers H, Shankar B, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, and Tornabene L. “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. doi:10.1016/j.asr.2012.05.008. (pdf)
    • Merali R S, Tong C, Gammell J, Bakambu J, Dupuis E, and Barfoot T D. “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 September 2012. (pdf)
    • Stenning B, Osinski G R, Barfoot T D, Basic G, Beauchamp M, Daly M, Francis R, Furgale P, Gammell J, Ghafoor N, Jasiobedzki P, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Moores J, and Preston L. “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 September 2012. (pdf)
    • Marion C L, Osinski G R, Abou-Aly S, Antonenko I, Barfoot T, Barry N, Bassi A, Battler M, Beauchamp M, Bondy M, Blain S, Capitan R, Cloutis E, Cupelli L, Chanou A, Clayton J, Daly M, Dong H, Ferriere L, Flemming R, Flynn L, Francis R, Furgale P, Gammell J, Garbino A, Ghafoor N, Grieve R A F, Hodges K, Hussein M, Jasiobedzki P, Jolliff B L, Kerrigan M C, Lambert A, Leung K, Mader M M, McCullough E, McManus C, Moores J, Ng H K, Otto C, Ozaruk A, Pickersgill A E, Pontefract A, Preston L J, Redman D, Sapers H, Shankar B, Shaver C, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, Tripp J, Tornabene L L, Unrau T, Veillette D, Young K, and Zanetti M. “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 March 2012. (pdf)
    • Pickersgill A E, Osinski G R, Beauchamp M, Marion C, Mader M M, Francis R, McCullough E, Shanker B, Barfoot T D, Bondy M, Chanou A, Daly M, Dong H, Furgale P, Gammell J, N N G, Hussein M, Jasiobedski P, Lambert A, Leung K, McManus C, Ng H K, Pontefract A, Stenning B, Tornabene L L, Tripp J, and Team I. “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 March 2012. (pdf)
    • Stenning B, Osinski G R, Barfoot T D, Basic G, Beauchamp M, Daly M, Dong H, Francis R, Furgale P, Gammell J, Ghafoor N, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Moores J, and Preston L. “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 March 2012. (pdf)
    • Moores J, Francis R, Barfoot T, Barry N, Basic G, Battler M, Beauchamp M, Blain S, Bondy M, Capitan R D, Chanou A, Clayton J, Cloutis E, Daly M, Dickinson C, Dong H, Flemming R, Furgale P, Gammell J, Ghafoor N, Hussein M, Grieve R, Henrys H, Jaziobedski P, Lambert A, Leung K, Mader M, Marion C, McCullough E, McManus C, Neish C, Ng H, Ozaruk A, Pickersgill A, Preston L, Redman D, Sapers H, Shankar B, Singleton A, Souders K, Stenning B, Stooke P, Sylvester P, Tornabene L, and Osinski G. “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). Nantes, France, October 2011. p. 1728. (pdf)
    • Gammell J D. “Evaluation of a Mobile Platform for Proof-of-concept Autonomous Site Selection and Preparation”. M.A.Sc. Thesis, University of Toronto, 2010. doi:1807/25591. (pdf)
    • Saini R, Jandric Z, Gammell J, Baur C, Mentink S A and Tuggle D. “Manufacturable MEMS miniSEMS.” In International Conference on Micro- and Nano-Engineering, September 2005. p. 734-735.
    • Jandric Z, Saini R, Gammell J, Tuggle D and Skidmore G. “Scanning Electron Microscopy – Next Generation.” In Proceedings of 10th International Commercialization of Micro-Nano Systems (COMS) Conference, August 2005. pp. 493-499
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