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Showing 30 publications by Jonathan Gammell

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

Paton M et al. (2021), Proceedings of the IEEE IROS Conference 2020(2020), 7034-7041

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@inproceedings{navigationonthe-2021/2,
  title={Navigation on the line: traversability analysis and path planning for extreme-terrain rappelling rovers},
  author={Paton M 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

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@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

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@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

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@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"
}

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

Yang I et al. (2020)

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@misc{applicationofar-2020/10,
  title={Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement.},
  author={Yang I et al.},
  year = "2020"
}

Occlusion-robust MVO: Multimotion estimation through occlusion via motion closure

Judd KM & Gammell JD (2020), IEEE International Conference on Intelligent Robots and Systems, 5855-5862

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@inproceedings{occlusionrobust-2020/10,
  title={Occlusion-robust MVO: Multimotion estimation through occlusion via motion closure},
  author={Judd KM & Gammell JD},
  pages={5855-5862},
  year = "2020"
}

Advanced BIT* (ABIT*): sampling-based planning with advanced graph-search techniques

Strub M & Gammell J (2020), 2020 IEEE International Conference on Robotics and Automation (ICRA), 130-136

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@inproceedings{advancedbitabit-2020/9,
  title={Advanced BIT* (ABIT*): sampling-based planning with advanced graph-search techniques},
  author={Strub M & Gammell J},
  booktitle={ICRA 2020: International Conference on Robotics and Automation},
  pages={130-136},
  year = "2020"
}

Adaptively Informed Trees (AIT*): fast asymptotically optimal path planning through adaptive heuristics

Strub M & Gammell J (2020), 2020 IEEE International Conference on Robotics and Automation (ICRA), 3191-3198

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@inproceedings{adaptivelyinfor-2020/9,
  title={Adaptively Informed Trees (AIT*): fast asymptotically optimal path planning through adaptive heuristics},
  author={Strub M & Gammell J},
  booktitle={ICRA 2020: International Conference on Robotics and Automation},
  pages={3191-3198},
  year = "2020"
}

Adaptively Informed Trees (AIT∗): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics

Strub MP & Gammell JD (2020), Proceedings - IEEE International Conference on Robotics and Automation, 3191-3198

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@inproceedings{adaptivelyinfor-2020/5,
  title={Adaptively Informed Trees (AIT∗): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics},
  author={Strub MP & Gammell JD},
  pages={3191-3198},
  year = "2020"
}

Advanced BIT∗ (ABIT∗): Sampling-Based Planning with Advanced Graph-Search Techniques

Strub MP & Gammell JD (2020), Proceedings - IEEE International Conference on Robotics and Automation, 130-136

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@inproceedings{advancedbitabit-2020/5,
  title={Advanced BIT∗ (ABIT∗): Sampling-Based Planning with Advanced Graph-Search Techniques},
  author={Strub MP & Gammell JD},
  pages={130-136},
  year = "2020"
}

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

Yang I et al. (2020)

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BibTeX
@misc{applicationofar-2020/3,
  title={Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement.},
  author={Yang I et al.},
  year = "2020"
}

Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search

Gammell JD, Barfoot TD & Srinivasa SS (2020), The International Journal of Robotics Research, 39(5), 543-567

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@article{batchinformedtr-2020/1,
  title={Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search},
  author={Gammell JD, Barfoot TD & Srinivasa SS},
  journal={The International Journal of Robotics Research},
  volume={39},
  pages={543-567},
  publisher={SAGE Publications},
  year = "2020"
}

The Oxford Multimotion Dataset: Multiple SE(3) Motions With Ground Truth

Judd KM & Gammell JD (2019), IEEE Robotics and Automation Letters, 4(2), 800-807

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@article{theoxfordmultim-2019/4,
  title={The Oxford Multimotion Dataset: Multiple SE(3) Motions With Ground Truth},
  author={Judd KM & Gammell JD},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  pages={800-807},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2019"
}

Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions

Gammell J, Judd K & Newman P (2019), IEEE/RSJ International Conference on Intelligent Robots and Systems

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@inproceedings{multimotionvisu-2019/1,
  title={Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions},
  author={Gammell J, Judd K & Newman P},
  year = "2019"
}

Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations

Border R, Gammell JD & Newman PM (2018)

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@inproceedings{surfaceedgeexpl-2018/9,
  title={Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations},
  author={Border R, Gammell JD & Newman PM},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year = "2018"
}

Informed Sampling for Asymptotically Optimal Path Planning

Gammell JD, Barfoot TD & Srinivasa SS (2018), IEEE TRANSACTIONS ON ROBOTICS, 34(4), 966-984

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@article{informedsamplin-2018/6,
  title={Informed Sampling for Asymptotically Optimal Path Planning},
  author={Gammell JD, Barfoot TD & Srinivasa SS},
  journal={IEEE TRANSACTIONS ON ROBOTICS},
  volume={34},
  pages={966-984},
  year = "2018"
}

Into darkness: Visual navigation based on a lidar-intensity-image pipeline

Barfoot TD et al. (2016), Springer Tracts in Advanced Robotics, 114, 487-504

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@inproceedings{intodarknessvis-2016/1,
  title={Into darkness: Visual navigation based on a lidar-intensity-image pipeline},
  author={Barfoot TD et al.},
  pages={487-504},
  year = "2016"
}

Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning

Choudhury S et al. (2016), 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4207-4214

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@inproceedings{regionallyaccel-2016/,
  title={Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning},
  author={Choudhury S et al.},
  pages={4207-4214},
  year = "2016"
}

Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs

Gammell JD et al. (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 3067-3074

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BibTeX
@inproceedings{batchinformedtr-2015/,
  title={Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs},
  author={Gammell JD et al.},
  pages={3067-3074},
  year = "2015"
}

Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic

Gammell JD et al. (2014), 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2997-3004

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@inproceedings{informedrrtopti-2014/,
  title={Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic},
  author={Gammell JD et al.},
  pages={2997-3004},
  year = "2014"
}

Rover odometry aided by a star tracker

Gammell JD et al. (2013), IEEE Aerospace Conference Proceedings

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@inproceedings{roverodometryai-2013/6,
  title={Rover odometry aided by a star tracker},
  author={Gammell JD et al.},
  year = "2013"
}

Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation

Gammell JD et al. (2013), 2013 INTERNATIONAL CONFERENCE ON COMPUTER AND ROBOT VISION (CRV), 144-150

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@inproceedings{blindedbythelig-2013/,
  title={Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation},
  author={Gammell JD et al.},
  pages={144-150},
  year = "2013"
}

A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars

Berczi L-P et al. (2013), 2013 INTERNATIONAL CONFERENCE ON COMPUTER AND ROBOT VISION (CRV), 29-36

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@inproceedings{aproofofconcept-2013/,
  title={A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars},
  author={Berczi L-P et al.},
  pages={29-36},
  year = "2013"
}

A Mission Control Architecture for robotic lunar sample return as field tested in an analogue deployment to the sudbury impact structure

Moores JE et al. (2012), ADVANCES IN SPACE RESEARCH, 50(12), 1666-1686

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@article{amissioncontrol-2012/12,
  title={A Mission Control Architecture for robotic lunar sample return as field tested in an analogue deployment to the sudbury impact structure},
  author={Moores JE et al.},
  journal={ADVANCES IN SPACE RESEARCH},
  volume={50},
  pages={1666-1686},
  year = "2012"
}

Manufacturable MEMS miniSEMs

Saini R et al. (2006), Microelectronic Engineering, 83(4-9), 1376-1381

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@article{manufacturablem-2006/4,
  title={Manufacturable MEMS miniSEMs},
  author={Saini R et al.},
  journal={Microelectronic Engineering},
  volume={83},
  pages={1376-1381},
  publisher={Elsevier BV},
  year = "2006"
}

Admissible heuristics for obstacle clearance optimization objectives

Strub MP & Gammell JD (0)

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@article{admissibleheuri-/,
  title={Admissible heuristics for obstacle clearance optimization objectives},
  author={Strub MP & Gammell JD},
  journal={}
}

Informed Sampling for Asymptotically Optimal Path Planning (Consolidated Version)

Gammell JD, Barfoot TD & Srinivasa SS (0), IEEE Transactions on Robotics (T-RO), 34(4): 966-984, 2018

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@article{informedsamplin-/,
  title={Informed Sampling for Asymptotically Optimal Path Planning (Consolidated
  Version)},
  author={Gammell JD, Barfoot TD & Srinivasa SS},
  journal={IEEE Transactions on Robotics (T-RO), 34(4): 966-984, 2018}
}

The Probability Density Function of a Transformation-based Hyperellipsoid Sampling Technique

Gammell JD & Barfoot TD (0)

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@misc{theprobabilityd-/,
  title={The Probability Density Function of a Transformation-based
  Hyperellipsoid Sampling Technique},
  author={Gammell JD & Barfoot TD}
}

On Recursive Random Prolate Hyperspheroids

Gammell JD, Srinivasa SS & Barfoot TD (0)

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@misc{onrecursiverand-/,
  title={On Recursive Random Prolate Hyperspheroids},
  author={Gammell JD, Srinivasa SS & Barfoot TD}
}

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

Yang I et al. (0)

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@inproceedings{usingaroboticsp-/,
  title={Using a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement.},
  author={Yang I et al.},
  booktitle={CAOS 2020. The 20th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery}
}