Showing 42 publications
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
Thomason W, Strub MP & Gammell JD (2022), IEEE Robotics and Automation Letters, 7(4), 11370-11377
BibTeX
@article{taskandmotionin-2022/10,
title={Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning},
author={Thomason W, Strub MP & Gammell JD},
journal={IEEE Robotics and Automation Letters},
volume={7},
pages={11370-11377},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
year = "2022"
}
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
Thomason W, Strub MP & Gammell JD (2022)
BibTeX
@misc{taskandmotionin-2022/10,
title={Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically
Optimal Integrated Task and Motion Planning},
author={Thomason W, Strub MP & Gammell JD},
year = "2022"
}
The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning
Border R & Gammell JD (2022)
BibTeX
@misc{thesurfaceedgee-2022/7,
title={The Surface Edge Explorer (SEE): A measurement-direct approach to next
best view planning},
author={Border R & Gammell JD},
year = "2022"
}
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort
Hartmann VN, Strub MP, Toussaint M & Gammell JD (2022)
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
BibTeX
@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)
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)
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
BibTeX
@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)
BibTeX
@misc{admissibleheuri-2021/4,
title={Admissible heuristics for obstacle clearance optimization objectives},
author={Strub MP & Gammell JD},
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
BibTeX
@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
BibTeX
@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
BibTeX
@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
BibTeX
@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"
}
Asymptotically Optimal Sampling-Based Motion Planning Methods
Gammell JD & Strub MP (2021), 4, 295-318
BibTeX
@misc{asymptoticallyo-2021/,
title={Asymptotically Optimal Sampling-Based Motion Planning Methods},
author={Gammell JD & Strub MP},
year = "2021"
}
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
BibTeX
@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
BibTeX
@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
BibTeX
@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
BibTeX
@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, GAMMELL JD, MELLON SJ & MURRAY DW (2020)
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, GAMMELL JD, MELLON SJ & MURRAY DW},
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
BibTeX
@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"
}
Occlusion-Robust MVO: Multimotion Estimation Through Occlusion Via Motion Closure
Judd KM, Gammell JD & IEEE (2020), 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 5855-5862
BibTeX
@inproceedings{occlusionrobust-2020/,
title={Occlusion-Robust MVO: Multimotion Estimation Through Occlusion Via Motion Closure},
author={Judd KM, Gammell JD & IEEE },
pages={5855-5862},
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
BibTeX
@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
Judd K, Gammell J & Newman P (2019), IEEE/RSJ International Conference on Intelligent Robots and Systems
BibTeX
@inproceedings{multimotionvisu-2019/1,
title={Multimotion visual odometry (MVO): Simultaneous estimation of camera and third-party motions},
author={Judd K, Gammell J & Newman P},
year = "2019"
}
Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations
Border R, Gammell JD & Newman PM (2018)
BibTeX
@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
BibTeX
@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"
}
Informed Sampling for Asymptotically Optimal Path Planning (Consolidated Version)
Gammell JD, Barfoot TD & Srinivasa SS (2017), IEEE Transactions on Robotics (T-RO), 34(4): 966-984, 2018
BibTeX
@article{informedsamplin-2017/6,
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},
year = "2017"
}
Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning
Choudhury S, Gammell JD, Barfoot TD, Srinivasa SS & Scherer S (2016), 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 4207-4214
BibTeX
@inproceedings{regionallyaccel-2016/,
title={Regionally Accelerated Batch Informed Trees (RABIT*): A Framework to Integrate Local Information into Optimal Path Planning},
author={Choudhury S, Gammell JD, Barfoot TD, Srinivasa SS & Scherer S},
pages={4207-4214},
year = "2016"
}
Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline
Barfoot TD, McManus C, Anderson S, Dong H, Beerepoot E et al. (2016), ROBOTICS RESEARCH, ISRR, 114, 487-504
BibTeX
@inproceedings{intodarknessvis-2016/,
title={Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline},
author={Barfoot TD, McManus C, Anderson S, Dong H, Beerepoot E et al.},
pages={487-504},
year = "2016"
}
Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs
Gammell JD, Srinivasa SS, Barfoot TD & IEEE (2015), 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 3067-3074
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, Srinivasa SS, Barfoot TD & IEEE },
pages={3067-3074},
year = "2015"
}
The Probability Density Function of a Transformation-based Hyperellipsoid Sampling Technique
Gammell JD & Barfoot TD (2014)
BibTeX
@misc{theprobabilityd-2014/4,
title={The Probability Density Function of a Transformation-based
Hyperellipsoid Sampling Technique},
author={Gammell JD & Barfoot TD},
year = "2014"
}
On Recursive Random Prolate Hyperspheroids
Gammell JD, Srinivasa SS & Barfoot TD (2014)
BibTeX
@misc{onrecursiverand-2014/3,
title={On Recursive Random Prolate Hyperspheroids},
author={Gammell JD, Srinivasa SS & Barfoot TD},
year = "2014"
}
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic
Gammell JD, Srinivasa SS, Barfoot TD & IEEE (2014), 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2997-3004
BibTeX
@inproceedings{informedrrtopti-2014/,
title={Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic},
author={Gammell JD, Srinivasa SS, Barfoot TD & IEEE },
pages={2997-3004},
year = "2014"
}
Rover odometry aided by a star tracker
Gammell JD, Tong CH, Berczi P, Anderson S, Barfoot TD et al. (2013), IEEE Aerospace Conference Proceedings
BibTeX
@inproceedings{roverodometryai-2013/6,
title={Rover odometry aided by a star tracker},
author={Gammell JD, Tong CH, Berczi P, Anderson S, Barfoot TD et al.},
year = "2013"
}
Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation
Gammell JD, Tong CH, Barfoot TD & IEEE (2013), 2013 INTERNATIONAL CONFERENCE ON COMPUTER AND ROBOT VISION (CRV), 144-150
BibTeX
@inproceedings{blindedbythelig-2013/,
title={Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation},
author={Gammell JD, Tong CH, Barfoot TD & IEEE },
pages={144-150},
year = "2013"
}
A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars
Berczi L-P, Gammell JD, Tong CH, Daly M, Barfoot TD et al. (2013), 2013 INTERNATIONAL CONFERENCE ON COMPUTER AND ROBOT VISION (CRV), 29-36
BibTeX
@inproceedings{aproofofconcept-2013/,
title={A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars},
author={Berczi L-P, Gammell JD, Tong CH, Daly M, Barfoot TD 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, Francis R, Mader M, Osinski GR, Barfoot T et al. (2012), ADVANCES IN SPACE RESEARCH, 50(12), 1666-1686
BibTeX
@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, Francis R, Mader M, Osinski GR, Barfoot T et al.},
journal={ADVANCES IN SPACE RESEARCH},
volume={50},
pages={1666-1686},
year = "2012"
}
Manufacturable MEMS miniSEMs
Saini R, Jandric Z, Gammell J, Mentink SAM & Tuggle D (2006), MICROELECTRONIC ENGINEERING, 83(4-9), 1376-1381
BibTeX
@article{manufacturablem-2006/,
title={Manufacturable MEMS miniSEMs},
author={Saini R, Jandric Z, Gammell J, Mentink SAM & Tuggle D},
journal={MICROELECTRONIC ENGINEERING},
volume={83},
pages={1376-1381},
year = "2006"
}
Using 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 (0), EPiC Series in Health Sciences
BibTeX
@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, Gammell JD, Murray DW & Mellon SJ},
booktitle={CAOS 2020. The 20th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery}
}
Autonomous Aerial Mapping and its Applications for Emergency Response
Border R & Gammell J (0)
BibTeX
@inproceedings{autonomousaeria-/,
title={Autonomous Aerial Mapping and its Applications for Emergency Response},
author={Border R & Gammell J},
booktitle={First Workshop on CyberPhysical Systems for Emergency Response}
}
AIT* and EIT*: asymmetric bidirectional sampling-based path planning
Strub M & Gammell J (0), International Journal of Robotics Research
BibTeX
@article{aitandeitasymme-/,
title={AIT* and EIT*: asymmetric bidirectional sampling-based path planning},
author={Strub M & Gammell J},
journal={International Journal of Robotics Research},
publisher={SAGE Publications}
}
Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort
Gammell J (0)
BibTeX
@inproceedings{effortinformedr-/,
title={Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort},
author={Gammell J},
booktitle={The International Symposium on Robotics Research}
}
Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort
Hartmann V, Strub M & Gammell J (0)
BibTeX
@inproceedings{effortinformedr-/,
title={Effort Informed Roadmaps (EIRM*): Efficient asymptotically optimal multiquery planning by actively reusing validation effort},
author={Hartmann V, Strub M & Gammell J},
booktitle={International Symposium on Robotics Research}
}