Ron Alterovitz

According to our database1, Ron Alterovitz authored at least 92 papers between 2003 and 2020.

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Bibliography

2020
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles.
IEEE Access, 2020

Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019
Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment.
CoRR, 2019

Asymptotically optimal kinematic design of robots using motion planning.
Auton. Robots, 2019

Non-Line-of-Sight Around the Corner Human Presence Detection Using Commodity WiFi Devices.
Proceedings of the 1st ACM International Workshop on Device-Free Human Sensing, 2019

Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search.
Proceedings of the Robotics: Science and Systems XV, 2019

Design and control of a compact modular robot for transbronchial lung biopsy.
Proceedings of the Medical Imaging 2019: Image-Guided Procedures, 2019

optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Multilevel Incremental Roadmap Spanners for Reactive Motion Planning.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Guest Editorial Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR).
IEEE Trans Autom. Sci. Eng., 2018

Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs.
Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles.
J. Medical Robotics Res., 2017

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning.
Proceedings of the Robotics: Science and Systems XIII, 2017

Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

The Economic Case for Cloud-Based Computation for Robot Motion Planning.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Motion planning for continuum reconfigurable incisionless surgical parallel robots.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Orthotropic Thin Shell Elasticity Estimation for Surface Registration.
Proceedings of the Information Processing in Medical Imaging, 2017

2016
Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertainty.
IEEE Trans Autom. Sci. Eng., 2016

Asymptotically Optimal Motion Planning for Tasks Using Learned Virtual Landmarks.
IEEE Robotics Autom. Lett., 2016

Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration.
CoRR, 2016

Robot Planning in the Real World: Research Challenges and Opportunities.
AI Mag., 2016

Cloud-based Motion Plan Computation for Power-Constrained Robots.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames.
Proceedings of the Medical Image Computing and Computer-Assisted Intervention - MICCAI 2016, 2016

2015
High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning.
IEEE Trans. Robotics, 2015

Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant.
IEEE Trans. Hum. Mach. Syst., 2015

Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps.
IEEE Trans Autom. Sci. Eng., 2015

Surface Registration in the Presence of Missing Patches and Topology Change.
Proceedings of the Medical Image Understanding and Analysis, 2015

Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots.
Proceedings of the Robotics Research, 2015

Motion planning for a three-stage multilumen transoral lung access system.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Needle Steering in 3-D Via Rapid Replanning.
IEEE Trans. Robotics, 2014

Scalable Multicore Motion Planning Using Lock-Free Concurrency.
IEEE Trans. Robotics, 2014

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.
Int. J. Robotics Res., 2014

Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue.
Int. J. Comput. Assist. Radiol. Surg., 2014

Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics XI, 2014

Motion planning under uncertainty for medical needle steering using optimization in belief space.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Closed-loop global motion planning for reactive execution of learned tasks.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Interactive-rate motion planning for concentric tube robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Motion planning for paramagnetic microparticles under motion and sensing uncertainty.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Needle steering in biological tissue using ultrasound-based online curvature estimation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Cache-aware asymptotically-optimal sampling-based motion planning.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
Patient-specific port placement for laparoscopic surgery using atlas-based registration.
Proceedings of the Medical Imaging 2013: Image-Guided Procedures, 2013

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision.
Proceedings of the Robotics Research, 2013

Continuous shape estimation of continuum robots using X-ray images.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
Motion planning under uncertainty using iterative local optimization in belief space.
Int. J. Robotics Res., 2012

Task-oriented design of concentric tube robots using mechanics-based models.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Parallel sampling-based motion planning with superlinear speedup.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Efficient Approximate Value Iteration for Continuous Gaussian POMDPs.
Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence, 2012

2011
Robot-Assisted Needle Steering.
IEEE Robotics Autom. Mag., 2011

Motion Planning Under Uncertainty In Highly Deformable Environments.
Proceedings of the Robotics: Science and Systems VII, 2011

Demonstration-Guided Motion Planning.
Proceedings of the Robotics Research, 2011

Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space.
Proceedings of the Robotics Research, 2011

Motion planning for concentric tube robots using mechanics-based models.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Planning curvature-constrained paths to multiple goals using circle sampling.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Robust topological features for deformation invariant image matching.
Proceedings of the IEEE International Conference on Computer Vision, 2011

2010
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
Int. J. Robotics Res., 2010

LQG-Based Planning, Sensing, and Control of Steerable Needles.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

Toward automated tissue retraction in robot-assisted surgery.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Planning active cannula configurations through tubular anatomy.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Local Occlusion Detection under Deformations Using Topological Invariants.
Proceedings of the Computer Vision, 2010

2009
Interactive simulation of surgical needle insertion and steering.
ACM Trans. Graph., 2009

Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues.
IEEE Trans. Inf. Technol. Biomed., 2009

Surgical Robotics [TC Spotlight].
IEEE Robotics Autom. Mag., 2009

ResBoost: characterizing and predicting catalytic residues in enzymes.
BMC Bioinform., 2009

Feedback control for steering needles through 3D deformable tissue using helical paths.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Planning fireworks trajectories for steerable medical needles to reduce patient trauma.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Motion planning for active cannulas.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Guiding medical needles using single-point tissue manipulation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering.
Int. J. Robotics Res., 2008

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Actuator networks for navigating an unmonitored mobile robot.
Proceedings of the 2008 IEEE International Conference on Automation Science and Engineering, 2008

Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures
Springer Tracts in Advanced Robotics 50, Springer, ISBN: 978-3-540-69257-7, 2008

2007
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty.
Proceedings of the Robotics: Science and Systems III, 2007

2006
Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

2005
Steering flexible needles under Markov motion uncertainty.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2003
Sensorless planning for medical needle insertion procedures.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003


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