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Picture Jory Denny
PhD Student
Algorithms & Applications Group

Parasol Laboratory url: http://parasol.tamu.edu/~jdenny/
Department of Computer Science and Engineering email:
Texas A&M University office: 407C HRBB
College Station, TX 77843-3112 tel:
USA fax: (979) 458-0718



About Me


Howdy, I am a third year PhD student in the Parasol Lab in the Department of Computer Science and Engineering at Texas A&M University. I received a B.S. in Computer Science from Texas A&M University in May 2011, graduating Magna Cum Laude and as an Honors Undergraduate Research Fellow (topic focused on Toggle PRM). I have research interests in robotic motion planning, computational geometry, artificial intelligence and machine learning, computer graphics, and mutli-agent systems.

I have received various honors in research such as receiving an NSF Graduate Research Fellowship (2013-2016) and the AFS Merit Fellowship (2011-2012), becoming a Finalist for the Computing Research Association's (CRA) Outstanding Undergraduate Researcher Award in 2011, and Department of Computer Science and Engineering Mentoring Award (April 2013) and Undergraduate Research Award (April 2011). Currently, I additionally volunteer my time in two leadership roles: IEEE Robotics and Automation Society (RAS) Student Activities Committee (SAC) Co-chair (2014-2015) and President of the Computer Science and Engineering Graduate Student Association (CSEGSA).

My faculty advisor is Professor Nancy Amato. She is the Co-Director of the Parasol Labs in the Department of Computer Science and Engineering at Texas A&M University. She has research interests in Computational Biology, Motion Planning, Animation and Robotics, Parallel and Distributed Computing.



Research Projects



Motion Planning

Toggle PRM

Adaptive Motion Planning

Parallel Motion Planning
(Mentoring)

Connected Component Expansion
(Mentoring)

Multi-agent Systems

Multi-Robot Caravanning

Pursuit and Evasion Techniques
(Undergraduate)




Publications


MARRT: Medial Axis Biased Rapidly-Exploring Random Trees, Jory Denny, Evan Greco, Shawna L. Thomas, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Hong Kong, China, Jun 2014.
Proceedings(ps, pdf, abstract)

Spark PRM: Using RRTs Within PRMs to Ef´Čüciently Explore Narrow Passages, Kensen Shi, Jory Denny, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Hong Kong, China, Jun 2014.
Proceedings(ps, pdf, abstract)

UMAPRM: Uniformly Sampling the Medial Axis, Hsin-Yi (Cindy) Yeh, Jory Denny, Aaron Lindsey, Shawna L. Thomas, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Hong Kong, China, Jun 2014. Also, Technical Report, TR13-010, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 2013.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Robust Online Belief Space Planning in Changing Environments: Application to Physical Mobile Robots, Ali-akbar Agha-mohammadi, Saurav Agarwal, Aditya Mahadevan, Suman Chakravorty, Daniel Tomkins, Jory Denny, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Hong Kong, China, May 2014. Also, Technical Report, TR13-007, Parasol Laboratory, Department of Computer Science, Texas A&M University, Jul 2013.
Proceedings(pdf, abstract) Technical Report(pdf, abstract)

Adapting RRT Growth for Heterogeneous Environments, Jory Denny, Marco A. Morales A., Samuel Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 1772 - 1778, Tokyo, Japan, Nov 2013.
Proceedings(ps, pdf, abstract)

Blind RRT: A Probabilistically Complete Distributed RRT, Cesar Rodriguez, Jory Denny, Sam Jacobs, Shawna L. Thomas, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 1758 - 1765, Tokyo, Japan, Nov 2013. Also, Technical Report, TR13-004, Department of Computer Science and Engineering, Texas A&M University, Apr 2013.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Multi-Robot Caravanning, Jory Denny, Andrew Giese, Aditya Mahadevan, Arnaud Marfaing, Rachel Glockenmeier, Colton Revia, Samuel Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 5722 - 5729, Tokyo, Japan, Nov 2013.
Proceedings(pdf, abstract)

Lazy Toggle PRM: A Single-Query Approach to Motion Planning, Jory Denny, Kensen Shi, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2407 - 2414, Karlsruhe, Germany, May 2013.
Proceedings(ps, pdf, abstract)

Improving Roadmap Quality through Connected Component Expansion, Juan Burgos, Jory Denny, Nancy M. Amato, Technical Report, TR13-003, Texas A&M University, Apr 2013.
Technical Report(ps, pdf, abstract)

Toggle PRM: A Coordinated Mapping of C-free and C-obstacle in Arbitrary Dimension, Jory Denny, Nancy M. Amato, In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. 297-312, Boston, MA, USA, Jun 2012.
Proceedings(ps, pdf, abstract)

The Toggle Local Planner for Sampling-Based Motion Planning, Jory Denny, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1779-1786, St. Paul, Minnesota, USA, May 2012.
Proceedings(ps, pdf, abstract)

A Scalable Method for Parallelizing Sampling-Based Motion Planning Algorithms, Sam Ade Jacobs, Kasra Manavi, Juan Burgos, Jory Denny, Shawna Thomas, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 2529-2536, St. Paul, Minnesota, USA, May 2012.
Proceedings(ps, pdf, abstract)

A Hierarchical Neighbor Finding Strategy for Sampling-Based Motion Planning, Chinwe Ekenna, Troy McMahon, Shuvra Nath, Jory Denny, Shawna Thomas, Nancy M. Amato, Technical Report, TR12-006, Apr 2012.
Technical Report(ps, pdf, abstract)

Toggle PRM: Simultaneous Mapping of C-free and C-obstacle - A Study in 2D -, Jory Denny, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 2632 - 2639, San Francisco, California, U.S.A., Sep 2011. Also, Technical Report, TR11-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, Apr 2011.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Toward Realistic Pursuit-Evasion Using a Roadmap-Based Approach, Samuel Rodriguez, Jory Denny, Juan Burgos, Aditya Mahadevan, Kasra Manavi, Luke Murray, Anton Kodochygov, Takis Zourntos, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1738-1745, May 2011.
Proceedings(ps, pdf, abstract)

Roadmap-Based Pursuit-Evasion in 3D Structures, Samuel Rodriguez, Jory Denny, Aditya Mahadevan, Jeremy (Cong-Trung) Vu, Juan Burgos, Takis Zourntos, Nancy M. Amato, In Proc. of 24th Intern. Conf. on Computer Animation and Social Agents (CASA), 2011, in Transactions on Edutainment, pp. to appear, May 2011.
Proceedings(ps, pdf, abstract)

Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach, Samuel Rodriguez, Jory Denny, Takis Zourntos, Nancy M. Amato, In Proc. of the 3rd Intern. Conf. on Motion in Games (MIG), 2010, in Lecture Notes in Computer Science (LNCS), pp. 82-93, Nov 2010.
Proceedings(ps, pdf, abstract)

Region Identification Methods for Efficient and Automated Motion Planning, Jory Denny, Anshul Agrawal, Evan Greco, Lydia Tapia, Nancy M. Amato, Technical Report, TR10-002, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, Texas, U.S.A., Sep 2010.
Technical Report(ps, pdf, abstract)



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