Alan Kuntz

Publication Activity (10 Years)

Years Active: 2015-2024
Publications (10 Years): 51

Top Topics

Asymptotically Optimal

Deformable Objects

Motion Planning

Top Venues

Publications

Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks. CoRR (2024)
Brian Y. Cho, Alan Kuntz
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery. ICRA (2024)
Yosuke Mizutani, Daniel Coimbra Salomao, Alex Crane, Matthias Bentert, Pål Grønås Drange, Felix Reidl, Alan Kuntz, Blair D. Sullivan
Leveraging Fixed-Parameter Tractability for Robot Inspection Planning. CoRR (2024)
Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger
General-purpose foundation models for increased autonomy in robot-assisted surgery. CoRR (2024)
Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. RoboSoft (2024)
Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. CoRR (2024)
Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz
DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation. ICRA (2024)
Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. RoboSoft (2024)
Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery. CoRR (2024)
Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks. ISMR (2024)
Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery. ISMR (2024)
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps. Int. J. Robotics Res. 42 (4-5) (2023)
Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. IEEE Robotics Autom. Lett. 8 (6) (2023)
Brian Y. Cho, Alan Kuntz
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery. CoRR (2023)
Bao Thach, Brian Y. Cho, Tucker Hermans, Alan Kuntz
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects. CoRR (2023)
Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation. CoRR (2023)
Alexandra Leavitt, Ryan Lam, Nichols Crawford Taylor, Daniel S. Drew, Alan Kuntz
Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications. CoRR (2023)
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
Autonomous medical needle steering in vivo. Sci. Robotics 8 (82) (2023)
Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model. J. Medical Robotics Res. 8 (1&2) (2023)
Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. ISMR (2023)
Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds. ICRA (2022)
Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
Autonomous Medical Needle Steering In Vivo. CoRR (2022)
Michael Bentley, D. Caleb Rucker, Alan Kuntz
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning. CoRR (2022)
Michael Bentley, D. Caleb Rucker, Alan Kuntz
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. IEEE Access 10 (2022)
Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls. CoRR (2021)
Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster, Ron Alterovitz
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. ICRA (2021)
Brian Y. Cho, Tucker Hermans, Alan Kuntz
Planning Sensing Sequences for Subsurface 3D Tumor Mapping. CoRR (2021)
Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds. CoRR (2021)
Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls. ICORES (2021)
Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles. CoRR (2021)
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. CoRR (2021)
Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics Autom. Lett. 6 (2) (2021)
Bao Thach, Alan Kuntz, Tucker Hermans
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation. CoRR (2021)
Brian Y. Cho, Tucker Hermans, Alan Kuntz
Planning Sensing Sequences for Subsurface 3D Tumor Mapping. ISMR (2021)
Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots. ISMR (2021)
Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots. CoRR (2021)
Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access 8 (2020)
Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster, Alan Kuntz
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. ISER (2020)
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. ICRA (2020)
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. CoRR (2019)
Alan Kuntz, Mengyu Fu, Ron Alterovitz
Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. IROS (2019)
Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster
Design and control of a compact modular robot for transbronchial lung biopsy. Medical Imaging: Image-Guided Procedures (2019)
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search. CoRR (2019)
Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. IROS (2019)
Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search. Robotics: Science and Systems (2019)
Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster, Ron Alterovitz
Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. ICRA (2018)
Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs. ISER (2018)
Mengyu Fu, Alan Kuntz, Robert J. Webster, Ron Alterovitz
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. IROS (2018)
Alan Kuntz, Chris Bowen, Ron Alterovitz
Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. ISRR (2017)
Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster, Ron Alterovitz
Motion planning for continuum reconfigurable incisionless surgical parallel robots. IROS (2017)
Alan Kuntz, Chris Bowen, Ron Alterovitz
Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. CoRR (2016)
Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster, Ron Alterovitz
A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. ICRA (2015)
Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz
Motion planning for a three-stage multilumen transoral lung access system. IROS (2015)