425 citations · 1.8k across the 99 of their papers we have counts for
5 papers · 1 filter
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman +6
In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location…
Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery
Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan +6
In this work, we develop an approach for guiding robots to automatically localize and find the shapes of tumors and other stiff inclusions present in the anatomy. Our approach uses…
Modelling and Path Planning of Snake Robot in cluttered environment
Akash Singh, Chaohui Gong, Howie Choset
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the…
Ergodic Coverage In Constrained Environments Using Stochastic Trajectory Optimization
Elif Ayvali, Hadi Salman, Howie Choset
In search and surveillance applications in robotics, it is intuitive to spatially distribute robot trajectories with respect to the probability of locating targets in the domain. E…
Rapid Randomized Restarts for Multi-Agent Path Finding Solvers
Liron Cohen, Glenn Wagner, T. K. Satish Kumar +2
Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use…