425 citations · 1.8k across the 99 of their papers we have counts for
11 papers · 1 filter
DMS*: Minimizing Makespan for Multi-Agent Combinatorial Path Finding
Zhongqiang Ren, Anushtup Nandy, Sivakumar Rathinam +1
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial to goal locations, while visiting a set of intermediate target locat…
C*: A New Bounding Approach for the Moving-Target Traveling Salesman Problem
Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam +1
We introduce a new bounding approach called Continuity* C*, which provides optimality guarantees for the Moving-Target Traveling Salesman Problem (MT-TSP). Our approach relaxes the…
Motion Informed Needle Segmentation in Ultrasound Images
Raghavv Goel, Cecilia Morales, Manpreet Singh +3
Segmenting a moving needle in ultrasound images is challenging due to the presence of artifacts, noise, and needle occlusion. This task becomes even more demanding in scenarios whe…
Multi-Objective Sparse Sensing with Ergodic Optimization
Ananya Rao, Howie Choset
We consider a search problem where a robot has one or more types of sensors, each suited to detecting different types of targets or target information. Often, information in the fo…
Multi-agent Collective Construction using 3D Decomposition
Akshaya Kesarimangalam Srinivasan, Shambhavi Singh, Geordan Gutow +2
This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that…
Heuristic Search for Path Finding with Refuelling
Shizhe Zhao, Anushtup Nandy, Howie Choset +2
This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where…
Unsupervised Deformable Image Registration for Respiratory Motion Compensation in Ultrasound Images
FNU Abhimanyu, Andrew L. Orekhov, John Galeotti +1
In this paper, we present a novel deep-learning model for deformable registration of ultrasound images and an unsupervised approach to training this model. Our network employs recu…
Unsupervised Deformable Ultrasound Image Registration and Its Application for Vessel Segmentation
FNU Abhimanyu, Andrew L. Orekhov, Ananya Bal +2
This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a c…
Gait design for limbless obstacle aided locomotion using geometric mechanics
Baxi Chong, Tianyu Wang, Daniel Irvine +5
Limbless robots have the potential to maneuver through cluttered environments that conventional robots cannot traverse. As illustrated in their biological counterparts such as snak…
Reslicing Ultrasound Images for Data Augmentation and Vessel Reconstruction
Cecilia Morales, Jason Yao, Tejas Rane +3
Robot-guided catheter insertion has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate an…
Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse
Ananya Rao, Robin Murphy, David Merrick +1
The 2021 Champlain Towers South Condominiums collapse in Surfside, Florida, resulted 98 deaths. Nine people are thought to have survived the initial collapse, and might have been r…