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Patrick McGarey

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4800 Oak Grove Drive
M/S 198-219

Pasadena, CA 91101

Patrick McGarey, PhD

Robotics Technologist

Biography

Patrick McGarey is a Robotics Technologist at JPL in the Robotic Mobility Group. Patrick received his PhD in Aerospace Engineering from the University of Toronto, where he was a visiting Fulbright Scholar. His research is focused on the development of systems and autonomy functions for the exploration of extreme environments throughout the solar system. Currently, Patrick is working on the Axel/DuAxel rover to enable advanced mobility for the exploration of RSL features on Mars and lava tubes on the Moon.

Education

- Ph.D. Aerospace Engineering, University of Toronto [2017]
- B.Sc. Exploration Systems Design, Arizona State University [2012]

Research Interests

- Systems Design
- Tethered Climbing Robots
- Autonomous Navigation
- SLAM
- Lidar-Based Mapping

Publications

2023
  1. I. Nesnas, L. Kerber, G. Sellar, T. Balint, B. Denevi, A. Parness, R. Kornfeld, M. Smith, P. McGarey, T. Brown, E. Sunada, K. Gonter, B. Hockman, P. Hayne, T. Horvath, J. Hopkins, A. Johnson, R. Wagner, Y. Cheng, A. Curtis, K. Zacny, M. Paton, K. Sherrill, "Moon Diver: Exploring a pit's exposed strata to understand lunar volcanism," Acta Astronautica, Volume 211, pp. 163-176, 28 May 2023.
2022
  1. P. McGarey and I. Nesnas, "Four-Wheeled Articulated Steering Vehicle System," United States Patent, pp. 1-15, 06 September 2022.
  2. A. Goel, S. Bandyopadhyay, J. Lazio, P. Goldsmith, D. Bacon, A. Amara, S. Furnaletto, P. McGarey, R. Rafizadeh, M. Delapierre, M. Arya, D. Pisanti, G. Gupta, N. Chahat, A. Stoica, I. Nesnas, B. M. Quadrelli, G. Hallinan, K. Jenks, and R. Wilson, "Probing the Cosmic Dark Ages with the Lunar Crater Radio Telescope," arXiv (Cornell University), 02 June 2022.
  3. P. McGarey, I. Nesnas, A. Rajguru, M. Bezkronvy, V. Jamnejad, J. Lux, E. Sunada, L. Teitelbaum, A. Miller, S. Squyres, G. Hallinan, A. Hegedeus, J. Burns, "How to Deploy a 10-km Interferometric Radio Telescope on the Moon with Just Four Tethered Robots," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-8, 05 March 2022.
2021
  1. K. Carpenter, M. Cable, M. Choukroun, H. Ono, R. Thakker, M. Ingham, P. McGarey, A. Barchowski, S. Iacoponi, J. Bowkett, W. Reid, E. Marteou, "Venture Deep, the Path of Least Resistance: Crevasse-Based Ocean Access Without the Need to Dig or Drill," Bulletin of the American Astronomical Society, vol. 53, no. 4, pp. 356, 01 January 2021.
2020
  1. H. Price, I. Nesnas, G. Carr, A. Barchowsky, P. McGarey, "A Tethered Architecture for Long-Distance Power and Communication Transmission to Support Lunar Operations," JPL Open Repository, 27 October 2020.
2019
  1. P. McGarey, W. Reid, I. Nesnas, "Towards Articulated Mobility and Efficient Docking for the DuAxel Tethered Robot System," 2019 IEEE Aerospace Conference, 05 March 2019.
2018
  1. P. McGarey, D. Yoon, T. Tang, F. Pomerleau, T.D. Barfoot, "Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain," Field and Service Robotics (FSR), Springer, p. 303-317, 01 January 2018.
2017
  1. P. McGarey, K. MacTavish, F. Pomerleau, T.D. Barfoot, "TSLAM: Tethered Simultaneous Localization and Mapping for Mobile Robots," The International Journal of Robotics Research (IJRR), Vol 36, Issue 12, p. 1363 - 1386, 01 January 2017.
  2. P. McGarey, M. Polzin, T.D. Barfoot, "Falling in Line: Visual Route Following on Extreme Terrain for a Tethered Mobile Robot," IEEE International Conference on Robotics and Automation (ICRA), p. 2027-2034, 01 January 2017.
2016
  1. P. McGarey, K. MacTavish, F. Pomerleau, T.D. Barfoot, "The Line Leading the Blind: Towards Nonvisual Localization and Mapping for Tethered Mobile Robots," IEEE International Conference on Robotics and Automation (ICRA),, p. 4799-4806, 01 January 2016.
  2. P. McGarey, F. Pomerleau, T.D. Barfoot, "System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments," Field and Service Robotics (FSR), Springer, p. 267-281, 01 January 2016.
2014
  1. P. McGarey, H. Mani, C. Wheeler, C.E. Groppi, "A 16 Channel Flex Circuit for Cryogenic Microwave Signal Transmission," SPIE Astronomical Telescopes + Instrumentation, International Society for Optics and Photonics, p. 91532F-91532F, 01 January 2014.
  2. K. Johnson, Ed. Nissen, S. Saripalli, J.R. Arrowsmith, P. McGarey, K. Scharer, P. Williams, K. Blisniuk, "Rapid Mapping of Ultrafine Fault Zone Topography with Structure from Motion," Geosphere, 10(5), p. 969-986, 01 January 2014.
  3. P. McGarey, S. Saripalli, "AUTOKITE," Journal of Intelligent & Robotic Systems (JIRS), 74.1-2, p. 363-370, 01 January 2014.
2013
  1. A.K Krishnan, P. McGarey, S. Saripalli, J.F Bell, "NIR-CAM: Development of a Near Infrared Camera," IEEE International Symposium on Robotic and Sensors Environments (ROSE), 01 January 2013.
  2. P. McGarey, S. Saripalli, "Autokite: Experimental Use of a Low-Cost Autonomous Kite Plane for Aerial Photography and Reconnaissance," IEEE International Conference on Unmanned Aircraft Systems (ICUAS), p. 208-213, 01 January 2013.
2012
  1. C.H. Wheeler, C.E. Groppi, H. Mani, P. McGarey, L. Kuenzi, S. Weinreb, D.S. Russell, J.W. Kooi, A.W. Lichtenberger, C.K. Walker, C. Kulesa, "The Kilopixel Array Pathfinder Project (KAPPa), a 16 pixel integrated heterodyne focal plane array," Society of Photo-Optical Instrumentation Engineers (SPIE), 01 January 2012.