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Alan Kuntz
ORCID
Publication Activity (10 Years)
Years Active: 2015-2024
Publications (10 Years): 51
Top Topics
Point Cloud
Asymptotically Optimal
Deformable Objects
Motion Planning
Top Venues
CoRR
ICRA
ISMR
IROS
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Publications
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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)