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Estimation, Search, & Planning Research Group

Welcome to the Estimation, Search, and Planning (ESP) research group at the Oxford Robotics Institute (ORI).

ESP is led by Dr. Jonathan Gammell and is focused on studying and understating the fundamental problems of robotics as motivated by real-world problems.

Please visit the group's webpage to find out more about our individual research, including our publicly available available code and datasets.

@andreas_orthey Thanks for the kind words @andreas_orthey, it was my pleasure to talk shop with you and everyone at @LIS_TUBerlin

RT @LIS_TUBerlin: We had an awesome talk today Jonathan D. Gammell @Robotic_ESP from @UniofOxford on Motion Estimation and Planning in Robo…

Marlin's paper at IROS 2020 with the @NASAJPL Robotic Surface Mobility Group on tethered-rover autonomy was a finalist for the Best Paper Award on Safety, Security, and Rescue Robotics. You can check out this great article on the mission concept or… https://t.co/MqFxi6YUNK

Another ESP paper at virtual IROS is Rowan's latest work on NBV planning for autonomous 3D reconstruction. It presents an updated Surface Edge Explorer (SEE++) algorithm that considers more information and is available as open source code. If you'd like… https://t.co/hoOaM5F7S1

RT @NASAJPL: DuAxel is a prototype robot designed to explore places where rovers cannot – the sides of craters and near-vertical cliffs. It…

ESP has three papers at IROS this year, which is being held virtually as an on-demand conference. All our work is already available and includes Kevin's most recent paper on occlusion-robust Multimotion Visual Odometry (MVO). You can watch a short video… https://t.co/VDdNguR72j

Jonathan was invited to survey the popular field of asymptotically optimal sampling-based motion planning algorithms in the Annual Review of Control, Robotics, and Autonomous Systems. The paper will be published in 2021, but you can read a preprint of it… https://t.co/6Ghgy2KUbl

Rowan has a great new paper on how to estimate occlusions and view coverage in density-based next best view (NBV) algorithms at IROS 2020. The full paper is already available on arXiv and you can also download the code to try it yourself. https://t.co/AJt64BxCKw