Research

I'm currently project lead at DIGINEXT, where I coordinate european research projects on virtual reality, such as V-City.

Until mid-2010, I was an R&D engineer at Kineo CAM, a start-up company specialized in motion planning. I did a joint PhD at Kineo and with Jean-Paul Laumond at the Gepetto group at the LAAS-CNRS.

My work addressed problems surrounding motion planning for industrial models, including swept volumes, collision detection, and planning in collision.

Publications:

PhD - "Geometric Operators for Motion Planning," 2008. (PDF)

Jesse Himmelstein, Etienne Ferré, and Jean-Paul Laumond, "Swept Volume Approximation of Polygon Soups," IEEE Transactions on Automation Science and Engineering, 7:1 (2010), pp. 177-183. (PDF)

Jesse Himmelstein, Etienne Ferré, and Jean-Paul Laumond, "‘Teleportation’-Based Motion Planner for Design Error Analysis,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 914-920. (PDF)

Jesse Himmelstein, Alireza Nakhaei, Guillaume Ginioux, Florent Lamiraux, Etienne Ferré, and Jean-Paul Laumond, "Efficient Architecture for Collision Detection between Heterogeneous Data Structures,” in Proceedings of IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), 2008, pp. 552-559. (PDF)

Jesse Himmelstein, Etienne Ferré, and Jean-Paul Laumond, "Swept Volume approximation of polygon soups," in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4854-4860. (PDF)