29 citations · 36 across the 13 of their papers we have counts for
14 papers
Video-to-Model: Automatic Modeling of Deformable Linear Objects
Akshun Sharma, Kimia Forghani, Yancy Diaz-Mercado
This paper presents a video-to-model framework for automatically modeling the motion of a deformable suture thread from an input video. We utilize a recently developed CBF--CLF--QP…
Robust Autonomous Control of a Magnetic Millirobot in In Vitro Cardiac Flow
Anuruddha Bhattacharjee, Xinhao Chen, Lamar O. Mair +3
Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remai…
Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
Kimia Forghani, Suraj Raval, Lamar Mair +2
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits…
Fluoroscopy-Constrained Magnetic Robot Control via Zernike-Based Field Modeling and Nonlinear MPC
Xinhao Chen, Hongkun Yao, Anuruddha Bhattacharjee +4
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is li…
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
Kimia Forghani, Suraj Raval, Lamar Mair +2
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like sutur…
A Low-complexity Brain-computer Interface for High-complexity Robot Swarm Control
Gregory Canal, Yancy Diaz-Mercado, Magnus Egerstedt +1
A brain-computer interface (BCI) is a system that allows a human operator to use only mental commands in controlling end effectors that interact with the world around them. Such a…
Modeling Human-Human Collaboration: A Connection Between Inter-Personal Motor Synergy and Consensus Algorithms
Sara Honarvar, Jin-OH Hahn, Tim Kiemel +2
Many day-to-day activities involve people working collaboratively toward reaching a desired outcome. Previous research in motor control and neuroscience have proposed inter-persona…
Overcoming the Force Limitations of Magnetic Robotic Surgery: Impact-based Tetherless Suturing
Onder Erin, Xiaolong Liu, Jiawei Ge +4
Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation me…
Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue
Will Pryor, Yotam Barnoy, Suraj Raval +7
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localizatio…
Swarm Herding: A Leader-Follower Framework For Multi-Robot Navigation
Xiaotian Xu, Yancy Diaz-Mercado
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D de…
Multi-Agent Control Using Coverage Over Time-Varying Domains
Xiaotian Xu, Yancy Diaz-Mercado
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified…
Safe, Remote-Access Swarm Robotics Research on the Robotarium
Daniel Pickem, Li Wang, Paul Glotfelter +5
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds const…
Inter-Robot Interactions in Multi-Robot Systems Using Braids
Yancy Diaz-Mercado, Magnus Egerstedt
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interac…
Multi-Robot Control Using Time-Varying Density Functions
Sung G. Lee, Magnus Egerstedt
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where…