2024
The surface edge explorer (SEE): A measurement-direct approach to next best view planning.
Int. J. Robotics Res., 2024
Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*).
CoRR, 2024
2023
Event-Based Stereo Visual Odometry With Native Temporal Resolution via Continuous-Time Gaussian Process Regression.
IEEE Robotics Autom. Lett., October, 2023
Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning.
CoRR, 2023
Event-based Visual Odometry with Full Temporal Resolution via Continuous-time Gaussian Process Regression.
CoRR, 2023
2022
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning.
IEEE Robotics Autom. Lett., 2022
Adaptively Informed Trees (AIT*) and Effort Informed Trees (EIT*): Asymmetric bidirectional sampling-based path planning.
Int. J. Robotics Res., 2022
Effort Informed Roadmaps (EIRM*): Efficient Asymptotically Optimal Multiquery Planning by Actively Reusing Validation Effort.
Proceedings of the Robotics Research, 2022
2021
AIT* and EIT*: Asymmetric bidirectional sampling-based path planning.
CoRR, 2021
Multimotion Visual Odometry (MVO).
CoRR, 2021
Admissible heuristics for obstacle clearance optimization objectives.
CoRR, 2021
Asymptotically Optimal Sampling-Based Motion Planning Methods.
Annu. Rev. Control. Robotics Auton. Syst., 2021
2020
Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search.
Int. J. Robotics Res., 2020
A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods.
CoRR, 2020
Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Occlusion-Robust MVO: Multimotion Estimation Through Occlusion Via Motion Closure.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proactive Estimation of Occlusions and Scene Coverage for Planning Next Best Views in an Unstructured Representation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Adaptively Informed Trees (AIT*): Fast Asymptotically Optimal Path Planning through Adaptive Heuristics.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Advanced BIT* (ABIT*): Sampling-Based Planning with Advanced Graph-Search Techniques.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
The Oxford Multimotion Dataset: Multiple SE(3) Motions With Ground Truth.
IEEE Robotics Autom. Lett., 2019
2018
Informed Sampling for Asymptotically Optimal Path Planning.
IEEE Trans. Robotics, 2018
Multimotion Visual Odometry (MVO): Simultaneous Estimation of Camera and Third-Party Motions.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Surface Edge Explorer (see): Planning Next Best Views Directly from 3D Observations.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Informed Asymptotically Optimal Anytime Search.
CoRR, 2017
2016
Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
2015
Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
BIT*: Batch Informed Trees for Optimal Sampling-based Planning via Dynamic Programming on Implicit Random Geometric Graphs.
CoRR, 2014
Informed RRT*: Optimal Incremental Path Planning Focused through an Admissible Ellipsoidal Heuristic.
CoRR, 2014
Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
2013
Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline.
Proceedings of the Robotics Research, 2013
Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation.
Proceedings of the Tenth Conference on Computer and Robot Vision, 2013
A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars.
Proceedings of the Tenth Conference on Computer and Robot Vision, 2013