Marlin Strub
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Publications

Journal articles

  • W. Thomason, M. P. Strub, J. D. Gammell (2022) Task and Motion Informed Trees (TMIT​*): Almost-surely asymptotically optimal integrated task and motion planning. Robotics and Automation Letters (RA-L), 7(4): pages 11370—11377. (arxiv, doi)
Bibtex entry
@Article{thomason_ral22,
  author = {Thomason, Wil and Strub, Marlin P. and Gammell, Jonathan D.},
  title = {{Task} and {Motion} {Informed} {Trees} ({TMIT*}): Almost-surely asymptotically optimal integrated task and motion planning},
  journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
  year = {2022},
  volume = {7},
  number = {4},
  pages = {11370--11377},
  doi = {10.1109/LRA.2022.3199676}
}
  • M. P. Strub, J. D. Gammell (2022) AIT​* and EIT​*: Asymmetric bidirectional sampling-based path planning. The International Journal of Robotics Research, 41(4): pages 390—417. (arxiv, doi)
Bibtex entry
@Article{strub_ijrr2021,
  author = {Strub, Marlin P. and Gammell, Jonathan D.}
  title = {{AIT*} and {EIT*}: {Asymmetric} bidirectional sampling-based path planning},
  note = {To appear, Manuscript \#IJR-21-4179},
  year = {2022},
  journal = {The International Journal of Robotics Research ({IJRR})}
}
  • J. D. Gammell, M. P. Strub (2021) Asymptotically optimal sampling-based motion planning methods. Annual Review of Control, Robotics, and Autonomous Systems, 4(1): pages 295—318. Invited. (arxiv, annualreviews)
Bibtex entry
@Article{gammell_arcras2021,
  author = {Gammell, Jonathan D. and Strub, Marlin P.},
  title = {Asymptotically optimal sampling-based motion planning methods},
  journal = {Annual Review of Control, Robotics, and Autonomous Systems},
  pages = {295--318},
  year = {2021},
  volume = {4},
  number = {1},
  doi = {10.1146/annurev-control-061920-093753}
}

Conference papers

  • Valentin N. Hartmann, Marlin P. Strub, Marc Toussaint, Jonathan D. Gammell (2022) Effort informed roadmaps (EIRM​*​): Efficient asymptotically optimal multiquery planning by actively reusing validation effort. In: Proceedings of the International Symposium on Robotics Research (ISRR). to be published. (arxiv)
Bibtex entry
@InProceedings{hartmann_arxiv22,
  author = {Hartmann, Valentin N. and Strub, Marlin P. and Toussaint, Marc and Gammell, Jonathan D.},
  title = {{Effort} {Informed} {Roadmaps} ({EIRM*}): {Efficient} asymptotically optimal multiquery planning by actively reusing validation effort},
  booktitle = {Proceedings of the International Symposium on Robotics Research ({ISRR})},
  year = {2022},
  note = {Submitted, Manuscript \#3, {arXiv}:2205.08480 {[cs.RO]}},
}
  • M. Paton, M. P. Strub, T. Brown, R. J. Greene, J. Lizewski, V. Patel, J. D. Gammell, I. A. D. Nesnas (2020) Navigation on the line: Traversability analysis and path planning for extreme-terrain rappelling rovers. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pages 7034—7041. (open-access, ieeexplore)
Bibtex entry
@InProceedings{paton_iros2020,
  author = {Paton, Michael and Strub, Marlin P. and Brown, Travis and Greene, Rebecca J. and Lizewski, Jacob and Patel, Vandan and Gammell, Jonathan D. and Nesnas, Issa A.D.},
  title = {Navigation on the line: {Traversability} analysis and path planning for extreme-terrain rappelling rovers},
  booktitle = {Proceedings of the {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  pages = {7034--7041},
  year = 2020,
  doi = {10.1109/IROS45743.2020.9341409}
}
  • M. P. Strub, J. D. Gammell (2020) Adaptively Informed Trees (AIT​*​): Fast asymptotically optimal path planning through adaptive heuristics. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). pages 3191—3198. (arxiv, ieeexplore)
Bibtex entry
@InProceedings{strub_icra2020b,
  author = {Strub, Marlin P. and Gammell, Jonathan D.},
  title = {{Adaptively} {Informed} {Trees} ({AIT}*): {Fast} asymptotically optimal path planning through adaptive heuristics},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  pages = {3191--3198},
  year = 2020,
  doi = {10.1109/ICRA40945.2020.9197338}
}
  • M. P. Strub, J. D. Gammell (2020) Advanced BIT​* (ABIT​*): Sampling-based planning with advanced graph-search techniques. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). pages 130—136. (arxiv, ieeexplore)
Bibtex entry
@InProceedings{strub_icra2020a,
  author = {Strub, Marlin P. and Gammell, Jonathan D.},
  title = {{Advanced} {BIT}* ({ABIT}*): {Sampling}-based planning with advanced graph-search techniques},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  pages = {130--136},
  year = 2020,
  doi = {10.1109/ICRA40945.2020.9196580},
}

Theses

Bibtex entry
@PhDThesis{strub_phd2022,
  author = {Strub, Marlin P.},
  title = {Leveraging multiple sources of information to search continuous spaces},
  school = {University of Oxford},
  year = {2022}
}

Technical reports

  • M. P. Strub, J. D. Gammell (2021) Admissible heuristics for obstacle clearance optimization objectives. (arxiv)
Bibtex entry
@TechReport{strub_tr2021,
  author = {Strub, Marlin P. and Gammell, Jonathan D.},
  title = {Admissible heuristics for obstacle clearance optimization objectives},
  institution = {Estimation, Search, and Planning (ESP) Research Group, University of Oxford},
  number = {TR-2021-MPS001},
  note = {arXiv:2104.02298 [cs.RO]},
  year = {2021}
}