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Home Page for Troy A. McMahon | Parasol Laboratory


Picture Troy A. McMahon
PhD Student
Algorithms & Applications Group

Parasol Laboratory url: http://parasol.tamu.edu/~tmcmahon/
Department of Computer Science and Engineering email:
Texas A&M University office: 407D HRBB
College Station, TX 77843-3112 tel: (979) 847-8835
USA fax: (979) 458-0718


My areas of interest include Motion planning, Computational Geometry, Computational Biology , and Parallel Algorithms. I am working on a Motion Planning with Dr. Nancy Amato. My projects include Reachable 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), pp. to appear, Vancouver, Canada, Sep 2017.
Proceedings(pdf, abstract)

Troy McMahon, Shawna Thomas, Nancy M. Amato, "Sampling Based Motion Planning with Reachable Volumes for High Degree of Freedom Manipulators," Technical Report, TR17-001, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, TX USA, Aug 2017. Also, International Journal of Robotics Research, to appear, 2017.
Technical Report(pdf, abstract) Journal(abstract)

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(ps, pdf, abstract)

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(ps, pdf, abstract)

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, abstract)

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, abstract)

Troy McMahon, Shawna L. Thomas, Nancy M. Amato, "Sampling Based Motion Planning with Reachable Volumes," Technical Report, TR14-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, (replaces TR13-008), Feb 2014.
Technical Report(pdf, abstract)

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(ps, pdf, abstract)

Troy McMahon, Sam Ade Jacobs, Bryan Boyd, Lydia Tapia, Nancy M. Amato, "Evaluation of the K-closest Neighbor Selection Strategy for PRM Construction," Technical Report, TR12-001, Department of Computer Science and Engineering, Texas A&M University, Jan 2012.
Technical Report(pdf, abstract)