Experimental evaluation of an inertial navigation system for underwater robotic vehicles. - Giancarlo Troni; Christopher J. McFarland; Kirk A. Nichols; Louis L. Whitcomb (ICRA, 2011)

Autonomous robotic palpation: Machine learning techniques to identify hard inclusions in soft tissues. - Kirk A. Nichols; Allison M. Okamura (ICRA, 2013)

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. - Stephen McKinley; Animesh Garg; Siddarth Sen; Rishi Kapadia; Adithyavairavan Murali; Kirk A. Nichols; Susan Lim; Sachin Patil; Pieter Abbeel; Allison M. Okamura; Ken Goldberg (CASE, 2015)

Models of human-centered automation in a debridement task. - Kirk A. Nichols; Adithyavairavan Murali; Siddarth Sen; Ken Goldberg; Allison M. Okamura (IROS, 2015)

Methods to Segment Hard Inclusions in Soft Tissue During Autonomous Robotic Palpation. - Kirk A. Nichols; Allison M. Okamura (IEEE Trans. Robotics, 2015)

Toward human-robot collaboration in surgery: Performance assessment of human and robotic agents in an inclusion segmentation task. - Kirsten E. Kaplan; Kirk A. Nichols; Allison M. Okamura (ICRA, 2016)

A Framework for Multilateral Manipulation in Surgical Tasks. - Kirk A. Nichols; Allison M. Okamura (IEEE Trans Autom. Sci. Eng., 2016)