AIConfPaper
← Search

Marlin P. Strub

6 accepted papers

2025

Risk-Aware Integrated Task and Motion Planning for Versatile Snake Robots Under Localization Failures

Ashkan Jasour, Guglielmo Daddi, Masafumi Endo, Tiago Stegun Vaquero, Michael Paton, Marlin P. Strub +4
ICRA 2025

Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor payload to the ground coupled with a limited field of view.

Cited by 0Source ↗Scholar ↗
2023

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures

Rohan Thakker, Michael Paton, Marlin P. Strub, Michael Swan, Guglielmo Daddi, Rob Royce +41
IROS 2023poster

The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface reconnaissance missions. To expl…

Cited by 12Source ↗Scholar ↗
2022

Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning

Wil Thomason, Marlin P. Strub, Jonathan D. Gammell
RA-L 2022

High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints between the discrete symbolic actions (i.e., the <italic xmlns:

Cited by 24Source ↗Scholar ↗
2020

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

Marlin P. Strub, Jonathan D. Gammell
ICRA 2020poster

Informed sampling-based planning algorithms exploit problem knowledge for better search performance. This knowledge is often expressed as heuristic estimates of solution cost and used to order the search. The practical improvement of this informed search depends on the accuracy of the heuristic.Sele…

Cited by 124Source ↗Scholar ↗
2020

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

Marlin P. Strub, Jonathan D. Gammell
ICRA 2020poster

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations.This paper continues work to combine their strengths and mitigate their limitations…

Cited by 105Source ↗Scholar ↗
2020

Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers

Michael Paton, Marlin P. Strub, Travis Brown, Rebecca J. Greene, Jacob Lizewski, Vandan Patel +2
IROS 2020poster

Many areas of scientific interest in planetary exploration, such as lunar pits, icy-moon crevasses, and Martian craters, are inaccessible to current wheeled rovers. Rappelling rovers can safely traverse these steep surfaces, but require techniques to navigate their complex terrain. This dynamic navi…

Cited by 23Source ↗Scholar ↗