Publications (30)
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
Thai Duong, Michael Yip, Nikolay Atanasov
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octre…
Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation
Kuancheng Wang, Seungho Yeom, Jinglin Cao +3
Long horizon, contact-rich manipulation is inherently partially observable. This is as a single visual observation rarely captures a robot's full action context, including prior at…
AutoPeel: Adhesion-aware Safe Peeling Trajectory Optimization for Robotic Wound Care
Xiao Liang, Youcheng Zhang, Fei Liu +2
Chronic wounds, including diabetic ulcers, pressure ulcers, and ulcers secondary to venous hypertension, affects more than 6.5 million patients and a yearly cost of more than $25 b…
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…
Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies
Peihan Zhang, Florian Richter, Ishan Duriseti +4
Computed tomography (CT)-guided needle biopsies are critical for diagnosing a range of conditions, including lung cancer, but present challenges such as limited in-bore space, prol…
Robot Autonomy for Surgery
Michael Yip, Nikhil Das
Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of…