Home Page For Troy McMahon
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Troy A. McMahon Postdoctoral Researcher and Lecturer
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My areas of interest include Motion planning, Kinodynamic Planning, Manipulation planning and Machine Learning. My projects include kinodynamic planning, motion planning for constrained systems and manipulation planning.
Curriculum Vitae: pdf
Research Statement: pdf
Teaching Statement: pdf
Selected Publications:
Aravind Sivaramakrishnan, Edgar Granados, Seth Karten, Troy McMahon, Kostas E Bekris, “Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers”, In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2021. (Available at https://arxiv.org/pdf/2110.04238.pdf)
Troy McMahon, Odest Chadwicke Jenkins, Nancy Amato, “Affordance Wayfields for Task and Motion Planning”, In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018 (Available at ref=”https://esheetz.github.io/content/EECS_692_replicatedpaper.pdf) .
Troy McMahon, Read Sandstrom, Shawna Thomas, Nancy M. Amato, “Manipulation Planning with Directed Reachable Volumes,” In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Vancouver, Canada, September 2017. (Available at https://ieeexplore.ieee.org/document/8206257)
Troy McMahon, Shawna Thomas, Nancy M. Amato, “Sampling Based Motion Planning with Reachable Volumes for High Degree of Freedom Manipulators”, International Journal of Robotics Research (IJRR), 2017. (Available at https://journals.sagepub.com/doi/full/10.1177/0278364918779555)
Troy McMahon, “Sampling Based Motion Planning with Reachable Volumes,” Ph.D. Thesis, Department of Computer Science and Engineering, Texas A&M University, College Station, TX, Aug 2016. (pdf)
Troy McMahon, Shawna L. Thomas, Nancy M. Amato, “Reachable Volume RRT,” In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2977-2984, Seattle, Washington, USA, May 2015. (Available at https://ieeexplore.ieee.org/document/7139607)
Troy McMahon, Shawna L. Thomas, Nancy M. Amato, “Sampling Based Motion Planning with Reachable Volumes: Application to Manipulators and Closed Chain Systems,” In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, USA, September 2014. (Available at https://ieeexplore.ieee.org/document/6943082)
Troy McMahon, Shawna L. Thomas, Nancy M. Amato, “Sampling-Based Motion Planning with Reachable Volumes: Theoretical Foundations,” In proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hong Kong, China, May 2014. (Available at https://ieeexplore.ieee.org/abstract/document/6907820)
Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, “Local Randomization in Neighbor Selection Improves PRM Roadmap Quality,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve [Portugal], Oct 2012. (Available at https://ieeexplore.ieee.org/document/6386061)