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Publications @ ESP

Publications @ ESP

Please see a list of our recent publications below or visit the group's webpage to find a complete list of our publications that includes links to open-access copies and associated media, code, and data.

Selected Recent Publications

  • Paper page J. D. Gammell and M. P. Strub. “Asymptotically optimal sampling-based motion planning methods,” Annual Review of Control, Robotics, and Autonomous Systems, 4(1). 2021. Invited, To Appear.

  • Paper page R. Border and J. D. Gammell. “Proactive estimation of occlusions and scene coverage for planning next best views in an unstructured representation,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 25 Oct. - 25 Nov. 2020.

  • Paper page K. M. Judd and J. D. Gammell. “Occlusion-robust MVO: Multimotion estimation through occlusion via motion closure,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 25 Oct. - 25 Nov. 2020.

  • Paper page M. Paton and M. P. Strub and T. Brown and R. J. Greene and J. Lizewski and V. Patel and J. D. Gammell and I. A. D. Nesnas. “Navigation on the line: Traversability analysis and path planning for extreme-terrain rappelling rovers,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 25 Oct. - 25 Nov. 2020. Best Safety, Security, and Rescue Robotics Paper Award Finalist.

  • Paper page M. P. Strub and J. D. Gammell. “Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics,” in IEEE International Conference on Robotics and Automation (ICRA). 31 May - 31 Aug. 2020.

  • Paper page M. P. Strub and J. D. Gammell. “Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques,” in IEEE International Conference on Robotics and Automation (ICRA). 31 May - 31 Aug. 2020.

Recent Publications

Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort

Hartmann VN, Strub MP, Toussaint M & Gammell JD (2022)

Altmetric score is
BibTeX
@misc{effortinformedr-2022/5,
  title={Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal
  Multiquery Planning by Actively Reusing Validation Effort},
  author={Hartmann VN, Strub MP, Toussaint M & Gammell JD},
  year = "2022"
}

Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement.

Yang I, Gammell JD, Murray DW & Mellon SJ (2022), Scientific reports, 12(1), 2068

Altmetric score is
BibTeX View PDF
@misc{applicationofar-2022/2,
  title={Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement.},
  author={Yang I, Gammell JD, Murray DW & Mellon SJ},
  year = "2022"
}

AIT* and EIT*: Asymmetric bidirectional sampling-based path planning

Strub MP & Gammell JD (2021)

Altmetric score is
BibTeX
@misc{aitandeitasymme-2021/11,
  title={AIT* and EIT*: Asymmetric bidirectional sampling-based path planning},
  author={Strub MP & Gammell JD},
  year = "2021"
}

Multimotion Visual Odometry (MVO)

Judd KM & Gammell JD (2021)

Altmetric score is
BibTeX
@misc{multimotionvisu-2021/10,
  title={Multimotion Visual Odometry (MVO)},
  author={Judd KM & Gammell JD},
  year = "2021"
}

The Oxford Domed Lateral Unicompartmental Knee Replacement implant: Increasing wall height reduces the risk of bearing dislocation

Yang I, Gammell JD, Murray DW & Mellon SJ (2021), Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine

Altmetric score is
BibTeX View PDF
@article{theoxforddomedl-2021/10,
  title={The Oxford Domed Lateral Unicompartmental Knee Replacement implant: Increasing wall height reduces the risk of bearing dislocation},
  author={Yang I, Gammell JD, Murray DW & Mellon SJ},
  journal={Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine},
  publisher={SAGE Publications},
  year = "2021"
}

Admissible heuristics for obstacle clearance optimization objectives

Strub MP & Gammell JD (2021)

Altmetric score is
BibTeX
@article{admissibleheuri-2021/4,
  title={Admissible heuristics for obstacle clearance optimization objectives},
  author={Strub MP & Gammell JD},
  journal={},
  year = "2021"
}

Navigation on the line: traversability analysis and path planning for extreme-terrain rappelling rovers

Paton M, Strub M, Brown T, Greene R, Lizewski J et al. (2021), Proceedings of the IEEE IROS Conference 2020(2020), 7034-7041

Altmetric score is
BibTeX View PDF
@inproceedings{navigationonthe-2021/2,
  title={Navigation on the line: traversability analysis and path planning for extreme-terrain rappelling rovers},
  author={Paton M, Strub M, Brown T, Greene R, Lizewski J et al.},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={7034-7041},
  year = "2021"
}

Occlusion-Robust MVO: multimotion estimation through occlusion via motion closure

Judd K & Gammell J (2021), Proceedings of IROS 2020, 5855-5862

Altmetric score is
BibTeX View PDF
@inproceedings{occlusionrobust-2021/2,
  title={Occlusion-Robust MVO: multimotion estimation through occlusion via motion closure},
  author={Judd K & Gammell J},
  booktitle={IEEE/RSJ international conference on intelligent robots and systems (IROS)},
  pages={5855-5862},
  year = "2021"
}

Proactive estimation of occlusions and scene coverage for planning next best views in an unstructured representation

Border R & Gammell J (2021), 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4219-4226

Altmetric score is
BibTeX View PDF
@inproceedings{proactiveestima-2021/2,
  title={Proactive estimation of occlusions and scene coverage for planning next best views in an unstructured representation},
  author={Border R & Gammell J},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4219-4226},
  year = "2021"
}

A survey of asymptotically optimal sampling-based motion planning methods

Gammell J & Strub M (2021), Annual Review of Control, Robotics, and Autonomous Systems, 4(2021), 1-25

Altmetric score is
BibTeX View PDF
@article{asurveyofasympt-2021/1,
  title={A survey of asymptotically optimal sampling-based motion planning methods},
  author={Gammell J & Strub M},
  journal={Annual Review of Control, Robotics, and Autonomous Systems},
  volume={4},
  pages={1-25},
  publisher={Annuals Reviews},
  year = "2021"
}