Home Page For Troy McMahon

Troy A. McMahon
Postdoctoral Researcher and Lecturer

The PRACSYS Lab url: https://robotics.cs.rutgers.edu/troy-mcmahon
Department of Computer Science email: tmcmahon1@gmail.com
Rutgers University office: 1 Spring Street
New Brunswick, NJ, 48109 tel: (979) 847-8835
USA fax: (979) 458-0718

My areas of interest include Motion planning, Manipulation planning, Computational Geometry, Perception, Computational Biology, and Parallel Algorithms.
My projects include Applications of learning to kinodynamic planning, Reachable VolumesReachable Volumes and Motion Planning for Constrained Systems.

Curriculum Vitae: pdf
Research Statement: pdf
Teaching Statement: pdf

 

Publications:

Troy McMahon, Read Sandstrom, Shawna Thomas, Nancy M. Amato, “Manipulation Planning with Directed Reachable Volumes,” In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Vancouver, Canada, Sep 2017.
Proceedings(IROS)

Troy McMahon, Shawna Thomas, Nancy M. Amato, “Sampling Based Motion Planning with Reachable Volumesfor High Degree of Freedom Manipulators”, International Journal of Robotics Research, 2017.

In Procedings(IJRR)

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.

Ph.D. Thesis(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, May 2015.
Proceedings(pdf)

Troy McMahon, Shawna L. Thomas, Nancy M. Amato, “Sampling Based Motion Planning with Reachable Volumes: Application to Manipulators and Closed Chain Systems,” In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Sep 2014.
Proceedings(pdf)

Troy McMahon, Shawna L. Thomas, Nancy M. Amato, “Sampling-Based Motion Planning with Reachable Volumes: Theoretical Foundations,” In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Hong Kong, China, May 2014.
Proceedings(pdf)

Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, “Local Randomization in Neighbor Selection Improves PRM Roadmap Quality,” In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Vilamoura, Algarve [Portugal], Oct 2012.
Proceedings(pdf)