Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. - Ron Alterovitz; Kenneth Y. Goldberg; Jean Pouliot; Richard Tascherau; I-Chow Hsu (ICRA, 2003)

Sensorless planning for medical needle insertion procedures. - Ron Alterovitz; Ken Goldberg; Jean Pouliot; Richard Tascherau; I-Chow Hsu (IROS, 2003)

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. - Ron Alterovitz; Kenneth Y. Goldberg; Allison M. Okamura (ICRA, 2005)

Steering flexible needles under Markov motion uncertainty. - Ron Alterovitz; Andrew E. B. Lim; Kenneth Y. Goldberg; Gregory S. Chirikjian; Allison M. Okamura (IROS, 2005)

Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering. - Ron Alterovitz; Michael S. Branicky; Kenneth Y. Goldberg (WAFR, 2006)

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty. - Ron Alterovitz; Thierry Siméon; Kenneth Y. Goldberg (Robotics: Science and Systems, 2007)

Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures - Ron Alterovitz; Kenneth Y. Goldberg (Springer, 2008)

Actuator networks for navigating an unmonitored mobile robot. - Jeremy Schiff; Anand P. Kulkarni; Danny Bazo; Vincent Duindam; Ron Alterovitz; Dezhen Song; Ken Goldberg (CASE, 2008)

Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining. - Jijie Xu; Vincent Duindam; Ron Alterovitz; Ken Goldberg (CASE, 2008)

Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles. - Vincent Duindam; Ron Alterovitz; Shankar Sastry 001; Kenneth Y. Goldberg (ICRA, 2008)

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. - Vincent Duindam; Jijie Xu; Ron Alterovitz; Shankar Sastry 001; Kenneth Y. Goldberg (WAFR, 2008)

Motion Planning Under Uncertainty for Image-guided Medical Needle Steering. - Ron Alterovitz; Michael S. Branicky; Kenneth Y. Goldberg (Int. J. Robotics Res., 2008)

Guiding medical needles using single-point tissue manipulation. - Meysam Torabi; Kris K. Hauser; Ron Alterovitz; Vincent Duindam; Kenneth Y. Goldberg (ICRA, 2009)

Motion planning for active cannulas. - Lisa A. Lyons; Robert J. Webster III; Ron Alterovitz (IROS, 2009)

Planning fireworks trajectories for steerable medical needles to reduce patient trauma. - Jijie Xu; Vincent Duindam; Ron Alterovitz; Jean Pouliot; J. Adam M. Cunha; I-Chow Hsu; Kenneth Y. Goldberg (IROS, 2009)

Feedback control for steering needles through 3D deformable tissue using helical paths. - Kris K. Hauser; Ron Alterovitz; Nuttapong Chentanez; Allison M. Okamura; Kenneth Y. Goldberg (Robotics: Science and Systems, 2009)

ResBoost: characterizing and predicting catalytic residues in enzymes. - Ron Alterovitz; Aaron Arvey; Sriram Sankararaman; Carolina Dallett; Yoav Freund; Kimmen Sjölander (BMC Bioinform., 2009)

Surgical Robotics [TC Spotlight]. - Ron Alterovitz; Jaydev P. Desai (IEEE Robotics Autom. Mag., 2009)

Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues. - Ron Alterovitz; Kenneth Y. Goldberg; Jean Pouliot; I-Chow Hsu (IEEE Trans. Inf. Technol. Biomed., 2009)

Interactive simulation of surgical needle insertion and steering. - Nuttapong Chentanez; Ron Alterovitz; Daniel Ritchie; Lita Cho; Kris K. Hauser; Kenneth Y. Goldberg; Jonathan Richard Shewchuk; James F. O'Brien (ACM Trans. Graph., 2009)

Local Occlusion Detection under Deformations Using Topological Invariants. - Edgar J. Lobaton; Ramanarayan Vasudevan; Ruzena Bajcsy; Ron Alterovitz (ECCV (3), 2010)

Planning active cannula configurations through tubular anatomy. - Lisa A. Lyons; Robert J. Webster III; Ron Alterovitz (ICRA, 2010)

Toward automated tissue retraction in robot-assisted surgery. - Sachin Patil; Ron Alterovitz (ICRA, 2010)

LQG-Based Planning, Sensing, and Control of Steerable Needles. - Jur van den Berg; Sachin Patil; Ron Alterovitz; Pieter Abbeel; Kenneth Y. Goldberg (WAFR, 2010)

Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. - Vincent Duindam; Jijie Xu; Ron Alterovitz; Shankar Sastry 001; Kenneth Y. Goldberg (Int. J. Robotics Res., 2010)

Robust topological features for deformation invariant image matching. - Edgar J. Lobaton; Ramanarayan Vasudevan; Ron Alterovitz; Ruzena Bajcsy (ICCV, 2011)

Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning. - Ron Alterovitz; Sachin Patil; Anna Derbakova (ICRA, 2011)

Planning curvature-constrained paths to multiple goals using circle sampling. - Edgar J. Lobaton; Jinghe Zhang; Sachin Patil; Ron Alterovitz (ICRA, 2011)

Motion planning for concentric tube robots using mechanics-based models. - Luis G. Torres; Ron Alterovitz (IROS, 2011)

Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space. - Jur van den Berg; Sachin Patil; Ron Alterovitz (ISRR, 2011)

Demonstration-Guided Motion Planning. - Gu Ye; Ron Alterovitz (ISRR, 2011)

Motion Planning Under Uncertainty In Highly Deformable Environments. - Sachin Patil; Jur van den Berg; Ron Alterovitz (Robotics: Science and Systems, 2011)

Robot-Assisted Needle Steering. - Kyle B. Reed; Ann Majewicz; Vinutha Kallem; Ron Alterovitz; Kenneth Y. Goldberg; Noah J. Cowan; Allison M. Okamura (IEEE Robotics Autom. Mag., 2011)

Efficient Approximate Value Iteration for Continuous Gaussian POMDPs. - Jur van den Berg; Sachin Patil; Ron Alterovitz (AAAI, 2012)

Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty. - Sachin Patil; Jur van den Berg; Ron Alterovitz (ICRA, 2012)

Parallel sampling-based motion planning with superlinear speedup. - Jeffrey Ichnowski; Ron Alterovitz (IROS, 2012)

Task-oriented design of concentric tube robots using mechanics-based models. - Luis G. Torres; Robert J. Webster III; Ron Alterovitz (IROS, 2012)

Motion planning under uncertainty using iterative local optimization in belief space. - Jur van den Berg; Sachin Patil; Ron Alterovitz (Int. J. Robotics Res., 2012)

Continuous shape estimation of continuum robots using X-ray images. - Edgar J. Lobaton; Jinghua Fu; Luis G. Torres; Ron Alterovitz (ICRA, 2013)

Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision. - Wen Sun 002; Luis G. Torres; Jur van den Berg; Ron Alterovitz (ISRR, 2013)

Patient-specific port placement for laparoscopic surgery using atlas-based registration. - Andinet Enquobahrie; Vikas Shivaprabhu; Stephen R. Aylward; Julien Finet; Kevin Cleary; Ron Alterovitz (Image-Guided Procedures, 2013)

Cache-aware asymptotically-optimal sampling-based motion planning. - Jeffrey Ichnowski; Jan F. Prins; Ron Alterovitz (ICRA, 2014)

Needle steering in biological tissue using ultrasound-based online curvature estimation. - Pedro Moreira; Sachin Patil; Ron Alterovitz; Sarthak Misra (ICRA, 2014)

Motion planning for paramagnetic microparticles under motion and sensing uncertainty. - Wen Sun 002; Islam S. M. Khalil; Sarthak Misra; Ron Alterovitz (ICRA, 2014)

Interactive-rate motion planning for concentric tube robots. - Luis G. Torres; Cenk Baykal; Ron Alterovitz (ICRA, 2014)

Closed-loop global motion planning for reactive execution of learned tasks. - Chris Bowen; Ron Alterovitz (IROS, 2014)

Motion planning under uncertainty for medical needle steering using optimization in belief space. - Wen Sun 002; Ron Alterovitz (IROS, 2014)

Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning. - Jeffrey Ichnowski; Ron Alterovitz (WAFR, 2014)

Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue. - Momen Abayazid; Gustaaf J. Vrooijink; Sachin Patil; Ron Alterovitz; Sarthak Misra (Int. J. Comput. Assist. Radiol. Surg., 2014)

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. - Gustaaf J. Vrooijink; Momen Abayazid; Sachin Patil; Ron Alterovitz; Sarthak Misra (Int. J. Robotics Res., 2014)

Scalable Multicore Motion Planning Using Lock-Free Concurrency. - Jeffrey Ichnowski; Ron Alterovitz (IEEE Trans. Robotics, 2014)

Needle Steering in 3-D Via Rapid Replanning. - Sachin Patil; Jessica Burgner; Robert J. Webster III; Ron Alterovitz (IEEE Trans. Robotics, 2014)

Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. - Philip J. Swaney; Arthur W. Mahoney; Andria A. Remirez; Erik Lamers; Bryan I. Hartley; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (ICRA, 2015)

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. - Luis G. Torres; Alan Kuntz; Hunter B. Gilbert; Philip J. Swaney; Richard J. Hendrick; Robert J. Webster III; Ron Alterovitz (ICRA, 2015)

Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. - Cenk Baykal; Luis G. Torres; Ron Alterovitz (IROS, 2015)

Motion planning for a three-stage multilumen transoral lung access system. - Alan Kuntz; Luis G. Torres; Richard H. Feins; Robert J. Webster III; Ron Alterovitz (IROS, 2015)

Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. - Arthur W. Mahoney; Trevor L. Bruns; Ron Alterovitz; Robert J. Webster III (ISRR (1), 2015)

Surface Registration in the Presence of Missing Patches and Topology Change. - Qingyu Zhao; James Price; Stephen M. Pizer; Marc Niethammer; Ron Alterovitz; Julian G. Rosenman (MIUA, 2015)

Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps. - Chris Bowen; Gu Ye; Ron Alterovitz (IEEE Trans Autom. Sci. Eng., 2015)

Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. - Kenneth Y. Goldberg; Siamak Faridani; Ron Alterovitz (IEEE Trans. Hum. Mach. Syst., 2015)

High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning. - Wen Sun 002; Sachin Patil; Ron Alterovitz (IEEE Trans. Robotics, 2015)

The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames. - Qingyu Zhao; True Price; Stephen M. Pizer; Marc Niethammer; Ron Alterovitz; Julian G. Rosenman (MICCAI (1), 2016)

Cloud-based Motion Plan Computation for Power-Constrained Robots. - Jeffrey Ichnowski; Jan F. Prins; Ron Alterovitz (WAFR, 2016)

Robot Planning in the Real World: Research Challenges and Opportunities. - Ron Alterovitz; Sven Koenig; Maxim Likhachev (AI Mag., 2016)

Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. - Alan Kuntz; Chris Bowen; Ron Alterovitz (CoRR, 2016)

Asymptotically Optimal Motion Planning for Tasks Using Learned Virtual Landmarks. - Chris Bowen; Ron Alterovitz (IEEE Robotics Autom. Lett., 2016)

Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertainty. - Wen Sun 002; Jur van den Berg; Ron Alterovitz (IEEE Trans Autom. Sci. Eng., 2016)

Orthotropic Thin Shell Elasticity Estimation for Surface Registration. - Qingyu Zhao; Stephen M. Pizer; Ron Alterovitz; Marc Niethammer; Julian G. Rosenman (IPMI, 2017)

Motion planning for continuum reconfigurable incisionless surgical parallel robots. - Alan Kuntz; Arthur W. Mahoney; Nicolas E. Peckman; Patrick L. Anderson; Fabien Maldonado; Robert J. Webster III; Ron Alterovitz (IROS, 2017)

Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling. - Chris Bowen; Ron Alterovitz (ISRR, 2017)

The Economic Case for Cloud-Based Computation for Robot Motion Planning. - Jeffrey Ichnowski; Jan F. Prins; Ron Alterovitz (ISRR, 2017)

Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. - Alan Kuntz; Chris Bowen; Ron Alterovitz (ISRR, 2017)

Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning. - Cenk Baykal; Ron Alterovitz (Robotics: Science and Systems, 2017)

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. - Philip J. Swaney; Arthur W. Mahoney; Bryan I. Hartley; Andria A. Remirez; Erik Lamers; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (J. Medical Robotics Res., 2017)

Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. - Alan Kuntz; Chris Bowen; Cenk Baykal; Arthur W. Mahoney; Patrick L. Anderson; Fabien Maldonado; Robert J. Webster III; Ron Alterovitz (ICRA, 2018)

Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. - Mengyu Fu; Alan Kuntz; Robert J. Webster III; Ron Alterovitz (IROS, 2018)

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs. - Sherdil Niyaz; Alan Kuntz; Oren Salzman; Ron Alterovitz; Siddhartha S. Srinivasa (ISER, 2018)

Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations. - Chris Bowen; Ron Alterovitz (WAFR, 2018)

Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces. - Jeffrey Ichnowski; Ron Alterovitz (WAFR, 2018)

Guest Editorial Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR). - Ron Alterovitz; Kostas E. Bekris (IEEE Trans Autom. Sci. Eng., 2018)

Closed-Loop Global Motion Planning for Reactive, Collision-Free Execution of Learned Tasks. - Chris Bowen; Ron Alterovitz (ACM Trans. Hum. Robot Interact., 2018)

Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs. - Jeffrey Ichnowski; Ron Alterovitz (ICRA, 2019)

Multilevel Incremental Roadmap Spanners for Reactive Motion Planning. - Jeffrey Ichnowski; Ron Alterovitz (IROS, 2019)

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. - Alan Kuntz; Mengyu Fu; Ron Alterovitz (IROS, 2019)

optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. - Sherdil Niyaz; Alan Kuntz; Oren Salzman; Ron Alterovitz; Siddhartha S. Srinivasa (IROS, 2019)

Design and control of a compact modular robot for transbronchial lung biopsy. - Stephanie Amack; Margaret Rox; Jason E. Mitchell; Tayfun Efe Ertop; Maxwell Emerson; Alan Kuntz; Fabien Maldonado; Jason A. Akulian; Joshua B. Gafford; Ron Alterovitz; Robert J. Webster III (Image-Guided Procedures, 2019)

Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search. - Mengyu Fu; Alan Kuntz; Oren Salzman; Ron Alterovitz (Robotics: Science and Systems, 2019)

Non-Line-of-Sight Around the Corner Human Presence Detection Using Commodity WiFi Devices. - Shiwei Fang; Ron Alterovitz; Shahriar Nirjon (DFHS@BuildSys, 2019)

Asymptotically optimal kinematic design of robots using motion planning. - Cenk Baykal; Chris Bowen; Ron Alterovitz (Auton. Robots, 2019)

Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. - Haonan Chen; Hao Tan 002; Alan Kuntz; Mohit Bansal; Ron Alterovitz (ICRA, 2020)

Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. - Jeffrey Ichnowski; William Lee; Victor Murta; Samuel Paradis; Ron Alterovitz; Joseph E. Gonzalez; Ion Stoica; Ken Goldberg (ICRA, 2020)

A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. - Maxwell Emerson; James M. Ferguson; Tayfun Efe Ertop; Margaret Rox; Josephine Granna; Michael Lester; Fabien Maldonado; Erin A. Gillaspie; Ron Alterovitz; Robert J. Webster III; Alan Kuntz (ISER, 2020)

Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. - Margaret Rox; Maxwell Emerson; Tayfun Efe Ertop; Inbar Fried; Mengyu Fu; Janine Hoelscher; Alan Kuntz; Josephine Granna; Jason E. Mitchell; Michael Lester; Fabien Maldonado; Erin A. Gillaspie; et al. (IEEE Access, 2020)

Robust navigation of a soft growing robot by exploiting contact with the environment. - Joseph D. Greer; Laura H. Blumenschein; Ron Alterovitz; Elliot W. Hawkes; Allison M. Okamura (Int. J. Robotics Res., 2020)

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. - Inbar Fried; Janine Hoelscher; Mengyu Fu; Maxwell Emerson; Tayfun Efe Ertop; Margaret Rox; Josephine Granna; Alan Kuntz; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (ICRA, 2021)

Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. - Mengyu Fu; Oren Salzman; Ron Alterovitz (ICRA, 2021)

Toward Certifiable Motion Planning for Medical Steerable Needles. - Mengyu Fu; Oren Salzman; Ron Alterovitz (Robotics: Science and Systems, 2021)

Backward Planning for a Multi-Stage Steerable Needle Lung Robot. - Janine Hoelscher; Mengyu Fu; Inbar Fried; Maxwell Emerson; Tayfun Efe Ertop; Margaret Rox; Alan Kuntz; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (IEEE Robotics Autom. Lett., 2021)

Resolution-Optimal Motion Planning for Steerable Needles. - Mengyu Fu; Kiril Solovey; Oren Salzman; Ron Alterovitz (ICRA, 2022)

A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. - Janine Hoelscher; Inbar Fried; Mengyu Fu; Mihir Patwardhan; Max Christman; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (IROS, 2022)

A Clinical Dataset for the Evaluation of Motion Planners in Medical Applications. - Inbar Fried; Jason A. Akulian; Ron Alterovitz (CoRR, 2022)

Guiding the Development of Undergraduate Educational Robotics. - Bryce Ikeda; Janine Hoelscher; Ron Alterovitz; Daniel Szafir (CompEd (1), 2023)

High-Accuracy Injection Using a Mobile Manipulation Robot for Chemistry Lab Automation. - Angelos Angelopoulos; Matthew Verber; Collin McKinney; James Cahoon; Ron Alterovitz (IROS, 2023)

Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation. - Inbar Fried; Janine Hoelscher; Jason A. Akulian; Stephen M. Pizer; Ron Alterovitz (IROS, 2023)

A Dataset of Anatomical Environments for Medical Robots: Modeling Respiratory Deformation. - Inbar Fried; Janine Hoelscher; Jason A. Akulian; Ron Alterovitz (CoRR, 2023)

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps. - Mengyu Fu; Alan Kuntz; Oren Salzman; Ron Alterovitz (Int. J. Robotics Res., 2023)

Toward certifiable optimal motion planning for medical steerable needles. - Mengyu Fu; Kiril Solovey; Oren Salzman; Ron Alterovitz (Int. J. Robotics Res., 2023)

Autonomous medical needle steering in vivo. - Alan Kuntz; Maxwell Emerson; Tayfun Efe Ertop; Inbar Fried; Mengyu Fu; Janine Hoelscher; Margaret Rox; Jason A. Akulian; Erin A. Gillaspie; Yueh Z. Lee; Fabien Maldonado; Robert J. Webster III; et al. (Sci. Robotics, 2023)

Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. - Khoa T. Dang; Stephen Qiu; Carter Hatch; Peter Connor; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (ISMR, 2024)

Incorporating Retakes in a Robotics Class with Labs. - Janine Hoelscher; Bryce Ikeda; Daniel Szafir; Ron Alterovitz (SIGCSE (2), 2024)

Transforming science labs into automated factories of discovery. - Angelos Angelopoulos; James Cahoon; Ron Alterovitz (Sci. Robotics, 2024)

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. - Khoa T. Dang; Carter Hatch; Peter Connor; Stephen Qiu; Tony Qin; Ron Alterovitz; Robert J. Webster III; Caleb Rucker (J. Medical Robotics Res., 2025)

Medical needles in the hands of AI: Advancing toward autonomous robotic navigation. - Ron Alterovitz; Janine Hoelscher; Alan Kuntz (Sci. Robotics, 2025)

Safe Start Regions for Medical Steerable Needle Automation. - Janine Hoelscher; Inbar Fried; Spiros Tsalikis; Jason A. Akulian; Robert J. Webster III; Ron Alterovitz (IEEE Trans. Robotics, 2025)

VIN-NBV: A View Introspection Network for Next-Best-View Selection for Resource-Efficient 3D Reconstruction. - Noah Frahm; Dongxu Zhao 002; Andrea Dunn Beltran; Ron Alterovitz; Jan-Michael Frahm; Junier Oliva; Roni Sengupta (CoRR, 2025)