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Showing 37 publications by Jonathan Gammell

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

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

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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

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@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)

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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)

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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

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@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)

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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

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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, 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

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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"
}

Asymptotically Optimal Sampling-Based Motion Planning Methods

Gammell JD & Strub MP (2021), 4, 295-318

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@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

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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, GAMMELL JD, MELLON SJ & MURRAY DW (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, 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

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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"
}

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

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@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

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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

Judd K, Gammell J & 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={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)

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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

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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"
}

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

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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

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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, 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

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@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

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@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)

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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)

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@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

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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, 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

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@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

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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, 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

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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, 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

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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, 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

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@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

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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, 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)

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@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

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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}
}