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Research @ ESP

Research @ ESP

The Estimation, Search, and Planning (ESP) research group is focused on improving our understanding of robotic fundamentals. We use this understanding to develop and deploy theoretically well-founded solutions to academic and real-world robotic problems, especially in the context of complex and dynamic environments.

We are primarily interested in problems arising in state estimation, task scheduling and search, and motion and path planning but we study any topic in robotics. We use a knowledge-driven research approach that is based on theoretical rigour and experimental validation and is often done with in collaboration with external partners.

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

Estimation

Search

Planning

RT @oxfordrobots: ORI is celebrating it's 5th anniversary! We have some exciting events happening this year and are starting the celebrat…

RT @ThomasAAAdcock: Prospective @oxengsci please apply for our @SPC_Oxford residential to learn about what it is like in Oxford and learn f…

Marlin has been working on planning problems that seek to optimize the distance between paths and obstacles. This is a difficult problem for informed search algorithms, like A*, because there aren't very many effective and cost-efficient admissible… https://t.co/DbrdHZ5k4u

@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