Marlin P. Strub
Roboticist and C++ enthusiast

@Article{vaquero_sr2024,
  author = {Vaquero, Tiago S. and Daddi, Guglielmo and Thakker, Rohan and Paton, Michael and Jasour, Akash and Strub, Marlin P. and Swan, R. Michael and Royce, Rob and Gildner, Matthew and Tosi, Phillipe and Veismann, Marcel and Gavrilov, Peter and Marteau, Elo\"{i}se and Bowkett, Joseph and Loret de Mola Lemus, Daniel and Nakka, Yashwanth and Hockman, Ben and Orekhov, Andrew and Hasseler, Tristan D. and Leake, Carl and Nuernberger, Benjamin and Proen\c{c}a, Pedro and Reid, William and Talbot, William and Georgiev, Nikola and Pailevanian, Torkom and Archanian, Avak and Ambrose, Eric and Jasper, Jay and Etheredge, Rachel and Roman, Christian and Levine, Dan and Otsu, Kyon and Yearicks, Sarah and Melikyan, Hovhannes and Rieber, Richard R. and Carpenter, Kalind and Nash, Jeremy and Jain, Abhinandan and Shiraishi, Lori and Robinson, Matt and Travers, Matthew and Choset, Howie and Burdick, Joel W. and Gardner, Alex and Cable, Morgan L. and Ingham, Mitch and Ono, Hiro},
  title = {{EELS}: {Autonomous} snake-like robot with task and motion planning capabilities for ice world exploration},
  journal = {Science Robotics},
  year = {2024},
  volume = {9},
  number = {88},
  pages = {1--11},
  doi = {10.1126/scirobotics.adh8332}
}

@Article{thomason_ral2022,
  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}
}

@Article{strub_ijrr2021,
  author = {Strub, Marlin P. and Gammell, Jonathan D.}
  title = {{AIT*} and {EIT*}: {Asymmetric} bidirectional sampling-based path planning},
  journal = {The International Journal of Robotics Research ({IJRR})},
  year = {2022},
  volume = {41},
  number = {4},
  pages = {351--457},
  doi = {10.1177/02783649211069572}
}

@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},
  year = {2021},
  volume = {4},
  number = {1},
  pages = {295--318},
  doi = {10.1146/annurev-control-061920-093753}
}

@InProceedings{jasour_icra2025,
  author = {Jasour, Akash and Daddi, Guglielmo and Endo, Masahiro and Vaquero, Tiago S. and Paton, Michael and Strub, Marlin P. and Corpino, Sabrina and Ingham, Michel and Ono, Masahiro and Thakker, Rohan},
  title = {Risk-aware integrated task and motion planning for versatile snake robots under localization failures},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = {2025},
  pages = {8880--8886},
  doi = {10.1109/ICRA55743.2025.11127363}
}

@InProceedings{reid_aeroconf24,
  author = {Reid, William and Bartlett, Tara and Bouton, Arthur and Strub, Marlin P. and Newby, Michael and Gerdts, Stephen and Martin, Joshua and Moreland, Scott and McCormick, Ryan},
  title = {Planning and control for autonomous drives of the {Mars} sample {Recovery} {Helicopter}},
  booktitle = {Proceedings of the {IEEE} Aerospace Conference ({AeroConf})},
  year = {2024},
  pages = {1--11},
  doi = {10.1109/AERO58975.2024.10521039}
}

@InProceedings{paton_aeroconf2024,
  author = {Paton, Michael and others},
  title = {2023 {EELS} field tests at {Athabasca} {Glacier} as an icy moon analogue environment},
  booktitle = {Proceedings of the {IEEE} Aerospace Conference ({AeroConf})},
  year = {2024},
  pages = {1--18},
  doi = {10.1109/AERO58975.2024.10521174}
}

@InProceedings{thakker_aiaa2024,
  author = {Thakker, Rohan and Paton, Michael and Jones, Benjamin and Daddi, Guglielmo and Royce, Rob and Swan, Michael and Strub, Marlin P. and others},
  title = {To boldly go where no robots have gone before -- part 4: {Neo} autonomy for robustly exploring unknown, extreme environments with versatile robots},
  booktitle = {{AIAA} {SCITECH} 2024 Forum},
  year = {2024},
  number = {1747},
  doi = {10.2514/6.2024-1747}
}

@InProceedings{thakker_iros23,
  author = {Thakker, Rohan and Paton, Michael and Strub, Marlin P. and Swan, Michael and Daddi, Guglielmo and Royce, Rob and Tosi, Phillipe and Gildner, Matthew and Vaquero, Tiago and Veismann, Marcel and Gavrilov, Peter and Marteau, Eloise Bowkett, Joseph and Loret, Daniel and Nakka, Yashwanth and Hockman, Benjamin and Orekhov, Andrew and Hasseler, Tristan and Leake, Carl and Nuernberger, Benjamin and Proen\c{c}a, Pedro and Reid, William and Talbot, William and Georgiev, Nikola and Pailevanian, Torkom and Archanian, Avak and Ambrose, Eric and Jasper, Jay and Etheredge, Rachel and Roman, Christiahn and Levine, Dan and Otsu, Kyohei and Melikyan, Hovhannes and Nash, Jeremy and Rieber, Richard and Carpenter, Kalind and Jain, Abhinandan and Shiraishi, Lori and Pastor, Daniel and Yearicks, Sarah and Ingham, Michel and Robinson, Matthew and Agha, Ali and Travers, Matthew and Choset, Howie and Burdick, Joel and Ono Masahiro},
  title = {{EELS}: {Towards} autonomous mobility in extreme terrain with a versatile snake robot with resilience to exteroception failures},
  booktitle = {Proceedings of the {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year = {2023},
}

@InProceedings{hartmann_isrr22,
  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},
  doi = {10.1007/978-3-031-25555-7_37}
}

@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})},
  year = {2020},
  pages = {7034--7041},
  doi = {10.1109/IROS45743.2020.9341409}
}

@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})},
  year = {2020},
  pages = {3191--3198},
  doi = {10.1109/ICRA40945.2020.9197338}
}

@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})},
  year = 2020,
  pages = {130--136},
  doi = {10.1109/ICRA40945.2020.9196580},
}

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

@MastersThesis{strub_msc2017,
  author = {Strub, Marlin P.},
  title = {Exploring continuous representation of the world for place recognition},
  school = {ETH Zurich},
  year = {2017}
}

@MastersThesis{strub_bsc2015,
  author = {Strub, Marlin P.},
  title = {Model-based control of a bounding gait for a quadruped robot},
  type = {Bachelor's Thesis},
  school = {ETH Zurich},
  year = {2015}
}

@InProceedings{gammell_empp22,
  author = {Gammell, Jonathan D. and Strub, Marlin P. and Hartmann, Valentin N.},
  title = {Planner {Developer} {Tools} ({PDT}): Reproducible experiments and statistical analysis for developing and testing motion planners},
  booktitle = {Proceedings of the Workshop on Evaluating Motion Planning Performance ({EMPP}), {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year = {2022}
}

@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}
}