2025
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control.
CoRR, January, 2025
2024
Autonomous Needle Navigation in Subretinal Injections via iOCT.
IEEE Robotics Autom. Lett., May, 2024
Pursuer Coordination Against a Fast Evader via Coverage Control.
IEEE Trans. Autom. Control., February, 2024
Towards Autonomous Retinal Microsurgery Using RGB-D Images.
IEEE Robotics Autom. Lett., 2024
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks.
CoRR, 2024
A Feasible Workflow for Retinal Vein Cannulation in Ex Vivo Porcine Eyes with Robotic Assistance.
Proceedings of the 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2024
Non-Prehensile Aerial Manipulation using Model-Based Deep Reinforcement Learning.
Proceedings of the 20th IEEE International Conference on Automation Science and Engineering, 2024
2023
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC).
IEEE Robotics Autom. Lett., November, 2023
Survey of Simulators for Aerial Robots.
CoRR, 2023
Uncertainty-Aware Planning for Heterogeneous Robot Teams using Dynamic Topological Graphs and Mixed-Integer Programming.
CoRR, 2023
PAC-NMPC with Learned Perception-Informed Value Function.
CoRR, 2023
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery.
CoRR, 2023
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels.
CoRR, 2023
Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging.
CoRR, 2023
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry.
IROS, 2023
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
A Safety Fallback Controller for Improved Collision Avoidance.
Proceedings of the IEEE International Conference on Assured Autonomy, 2023
2022
Learn Proportional Derivative Controllable Latent Space from Pixels.
Proceedings of the 18th IEEE International Conference on Automation Science and Engineering, 2022
Decentralized Safety for Aggressively Maneuvering Multi-Robot Interactions.
Proceedings of the American Control Conference, 2022
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance.
Proceedings of the American Control Conference, 2022
2021
Improving the Reliability of Pick-and-Place With Aerial Vehicles Through Fault-Tolerant Software and a Custom Magnetic End-Effector.
IEEE Robotics Autom. Lett., 2021
Adaptive sampling with an autonomous underwater vehicle in static marine environments.
J. Field Robotics, 2021
Identifying Performance Regression Conditions for Testing & Evaluation of Autonomous Systems.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Robust Policy Search for an Agile Ground Vehicle Under Perception Uncertainty.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Towards Safer Retinal Surgery through Chance Constraint Optimization and Real-Time Geometry Estimation.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
2020
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework.
IEEE Trans. Biomed. Eng., 2020
Quantifying Good Seamanship For Autonomous Surface Vessel Performance Evaluation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control.
Proceedings of the 4th Conference on Robot Learning, 2020
Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control.
Proceedings of the 2020 American Control Conference, 2020
Adaptive Parameter Estimation for Aerial Manipulation.
Proceedings of the 2020 American Control Conference, 2020
2019
Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery.
Int. J. Comput. Assist. Radiol. Surg., 2019
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback.
Proceedings of the International Symposium on Medical Robotics, 2019
Using Data-Driven Domain Randomization to Transfer Robust Control Policies to Mobile Robots.
Proceedings of the International Conference on Robotics and Automation, 2019
Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force.
Proceedings of the International Conference on Robotics and Automation, 2019
Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery.
Proceedings of the International Conference on Robotics and Automation, 2019
2018
Robust Obstacle Avoidance using Tube NMPC.
Proceedings of the Robotics: Science and Systems XIV, 2018
Gaussian Process Adaptive Sampling Using the Cross-Entropy Method for Environmental Sensing and Monitoring.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Combining neural networks and tree search for task and motion planning in challenging environments.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Neural network modeling for steering control of an autonomous vehicle.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery.
Proceedings of the 2017 IEEE SENSORS, Glasgow, United Kingdom, October 29, 2017
Robust policy search with applications to safe vehicle navigation.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Robust obstacle avoidance for aerial platforms using adaptive model predictive control.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Fast approximate path coordinate motion primitives for autonomous driving.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017
2016
Towards Robot Task Planning From Probabilistic Models of Human Skills.
CoRR, 2016
Optimal Visual Servoing for differentially flat underactuated systems.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Do what i want, not what i did: Imitation of skills by planning sequences of actions.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
A stabilizing gyroscopic obstacle avoidance controller for underactuated systems.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
2015
Sample Complexity Bounds for Iterative Stochastic Policy Optimization.
Proceedings of the Advances in Neural Information Processing Systems 28: Annual Conference on Neural Information Processing Systems 2015, 2015
Differential dynamic programming for optimal estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Towards model-predictive control for aerial pick-and-place.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
Nonlinear Trajectory Control of Multi-body Aerial Manipulators.
J. Intell. Robotic Syst., 2014
Multisymplectic Lie group variational integrator for a geometrically exact beam in R3.
Commun. Nonlinear Sci. Numer. Simul., 2014
Discrete optimal control on lie groups and applications to robotic vehicles.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Gaussian approximation of non-linear measurement models on Lie groups.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014
2013
Discrete Variational Optimal Control.
J. Nonlinear Sci., 2013
Trajectory tracking of a class of underactuated systems with external disturbances.
Proceedings of the American Control Conference, 2013
2012
Solving Optimal Control Problems by Exploiting Inherent Dynamical Systems Structures.
J. Nonlinear Sci., 2012
Global estimation in constrained environments.
Int. J. Robotics Res., 2012
Cross-entropy motion planning.
Int. J. Robotics Res., 2012
2011
Discrete Geometric Optimal Control on Lie Groups.
IEEE Trans. Robotics, 2011
Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems.
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Annu. Rev. Control., 2011
Cross-Entropy Randomized Motion Planning.
Proceedings of the Robotics: Science and Systems VII, 2011
Collision avoidance norms in trajectory planning.
Proceedings of the American Control Conference, 2011
2010
Discrete mechanics optimal control (DMOC) and model predictive control (MPC) synthesis for reaction-diffusion process system with moving actuator.
Proceedings of the American Control Conference, 2010
2009
Lie group integrators for animation and control of vehicles.
ACM Trans. Graph., 2009
2007
A Discrete Geometric Optimal Control Framework for Systems with Symmetries.
Proceedings of the Robotics: Science and Systems III, 2007
Optimal Control Using Nonholonomic Integrators.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2006
People Tracking and Following with Mobile Robot using an Omnidirectional Camera and a Laser.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006
2005
Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005