Marin Kobilarov

Publication Activity (10 Years)

Years Active: 2005-2024
Publications (10 Years): 61

Top Topics

Predictive Control

Obstacle Avoidance

Top Venues

IEEE Robotics Autom. Lett.

Publications

Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks. CoRR (2024)
Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Retinal Microsurgery Using RGB-D Images. IEEE Robotics Autom. Lett. 9 (4) (2024)
Phillip Rivera-Ortiz, Marin Kobilarov, Yancy Diaz-Mercado
Pursuer Coordination Against a Fast Evader via Coverage Control. IEEE Trans. Autom. Control. 69 (2) (2024)
Cora A. Dimmig, Marin Kobilarov
Non-Prehensile Aerial Manipulation using Model-Based Deep Reinforcement Learning. CoRR (2024)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Subretinal Injections via iOCT. IEEE Robotics Autom. Lett. 9 (5) (2024)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes. ICRA (2023)
Adam Polevoy, Marin Kobilarov, Joseph L. Moore
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC). IEEE Robotics Autom. Lett. 8 (11) (2023)
Cora A. Dimmig, Kevin C. Wolfe, Marin Kobilarov, Joseph L. Moore
Uncertainty-Aware Planning for Heterogeneous Robot Teams using Dynamic Topological Graphs and Mixed-Integer Programming. CoRR (2023)
Peiyao Zhang, Ji Woong Kim, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes. CoRR (2023)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery. CoRR (2023)
Daniel Genin, Elizabeth Dietrich, Yanni Kouskoulas, Aurora C. Schmidt, Marin Kobilarov, Kapil D. Katyal, Shahriar Sefati, Subhransu Mishra, Ivan Papusha
A Safety Fallback Controller for Improved Collision Avoidance. ICAA (2023)
Ji Woong Kim, Shuwen Wei, Peiyao Zhang, Peter Gehlbach, Jin U. Kang, Iulian Iordachita, Marin Kobilarov
Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging. CoRR (2023)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels. CoRR (2023)
Cora A. Dimmig, Anna Goodridge, Gabriel Baraban, Pupei Zhu, Joyraj Bhowmick, Marin Kobilarov
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry. IROS (2023)
Adam Polevoy, Mark Gonzales, Marin Kobilarov, Joseph L. Moore
PAC-NMPC with Learned Perception-Informed Value Function. CoRR (2023)
Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire, Chiara Gabellieri, Wolfgang Hönig, Joseph L. Moore, Marin Kobilarov
Survey of Simulators for Aerial Robots. CoRR (2023)
Cora A. Dimmig, Anna Goodridge, Gabriel Baraban, Pupei Zhu, Joyraj Bhowmick, Marin Kobilarov
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry. CoRR (2023)
Adam Polevoy, Marin Kobilarov, Joseph L. Moore
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC). CoRR (2022)
James Guthrie, Marin Kobilarov, Enrique Mallada
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance. ACC (2022)
Weiyao Wang, Marin Kobilarov, Gregory D. Hager
Learn Proportional Derivative Controllable Latent Space from Pixels. CASE (2022)
Phillip Rivera-Ortiz, Marin Kobilarov
Decentralized Safety for Aggressively Maneuvering Multi-Robot Interactions. ACC (2022)
James Guthrie, Marin Kobilarov, Enrique Mallada
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance. CoRR (2022)
Weiyao Wang, Marin Kobilarov, Gregory D. Hager
Learn Proportional Derivative Controllable Latent Space from Pixels. CoRR (2021)
Paul G. Stankiewicz, Tan Yew Teck, Marin Kobilarov
Adaptive sampling with an autonomous underwater vehicle in static marine environments. J. Field Robotics 38 (4) (2021)
Shahriar Sefati, Subhransu Mishra, Matthew Sheckells, Kapil D. Katyal, Jin Bai, Gregory D. Hager, Marin Kobilarov
Robust Policy Search for an Agile Ground Vehicle Under Perception Uncertainty. IROS (2021)
Paul G. Stankiewicz, Marin Kobilarov
Identifying Performance Regression Conditions for Testing & Evaluation of Autonomous Systems. IROS (2021)
Peiyao Zhang, Ji Woong Kim, Marin Kobilarov
Towards Safer Retinal Surgery through Chance Constraint Optimization and Real-Time Geometry Estimation. CDC (2021)
Gowtham Garimella, Matthew Sheckells, Soowon Kim, Gabriel Baraban, Marin Kobilarov
Improving the Reliability of Pick-and-Place With Aerial Vehicles Through Fault-Tolerant Software and a Custom Magnetic End-Effector. IEEE Robotics Autom. Lett. 6 (4) (2021)
Paul G. Stankiewicz, Marin Kobilarov
A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels. ICRA (2021)
Phillip Rivera-Ortiz, Yancy Diaz-Mercado, Marin Kobilarov
Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control. ACC (2020)
Paul G. Stankiewicz, Michael Heistand, Marin Kobilarov
Quantifying Good Seamanship For Autonomous Surface Vessel Performance Evaluation. ICRA (2020)
Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. CoRR (2020)
Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration. ICRA (2020)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control. CoRR (2020)
Gabriel Baraban, Matthew Sheckells, Soowon Kim, Marin Kobilarov
Adaptive Parameter Estimation for Aerial Manipulation. ACC (2020)
Changyan He, Niravkumar A. Patel, Mahya Shahbazi, Yang Yang, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita
Toward Safe Retinal Microsurgery: Development and Evaluation of an RNN-Based Active Interventional Control Framework. IEEE Trans. Biomed. Eng. 67 (4) (2020)
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control. CoRL (2020)
Changyan He, Niravkumar A. Patel, Ali Ebrahimi, Marin Kobilarov, Iulian Iordachita
Preliminary study of an RNN-based active interventional robotic system (AIRS) in retinal microsurgery. Int. J. Comput. Assist. Radiol. Surg. 14 (6) (2019)
Ali Ebrahimi, Changyan He, Niravkumar A. Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. ISMR (2019)
Ali Ebrahimi, Changyan He, Niravkumar A. Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita
Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback. CoRR (2019)
Matthew Sheckells, Gowtham Garimella, Subhransu Mishra, Marin Kobilarov
Using Data-Driven Domain Randomization to Transfer Robust Control Policies to Mobile Robots. ICRA (2019)
Ali Ebrahimi, Niravkumar A. Patel, Changyan He, Peter Gehlbach, Marin Kobilarov, Iulian Iordachita
Adaptive Control of Sclera Force and Insertion Depth for Safe Robot-Assisted Retinal Surgery. ICRA (2019)
Changyan He, Niravkumar A. Patel, Iulian Iordachita, Marin Kobilarov
Enabling Technology for Safe Robot-Assisted Retinal Surgery: Early Warning for Unsafe Scleral Force. ICRA (2019)
Tan Yew Teck, Abhinav Kunapareddy, Marin Kobilarov
Gaussian Process Adaptive Sampling Using the Cross-Entropy Method for Environmental Sensing and Monitoring. ICRA (2018)
Gowtham Garimella, Matthew Sheckells, Joseph L. Moore, Marin Kobilarov
Robust Obstacle Avoidance using Tube NMPC. Robotics: Science and Systems (2018)
Matthew Sheckells, Timothy M. Caldwell, Marin Kobilarov
Fast approximate path coordinate motion primitives for autonomous driving. CDC (2017)
Chris Paxton, Vasumathi Raman, Gregory D. Hager, Marin Kobilarov
Combining Neural Networks and Tree Search for Task and Motion Planning in Challenging Environments. CoRR (2017)
Gowtham Garimella, Joseph Funke, Chuang Wang, Marin Kobilarov
Neural network modeling for steering control of an autonomous vehicle. IROS (2017)
Gowtham Garimella, Matthew Sheckells, Marin Kobilarov
Robust obstacle avoidance for aerial platforms using adaptive model predictive control. ICRA (2017)
Ankur Gupta, Saurabh Singh, Berk Gonenc, Marin Kobilarov, Iulian Iordachita
Toward sclera-force-based robotic assistance for safe micromanipulation in vitreoretinal surgery. IEEE SENSORS (2017)
Chris Paxton, Vasumathi Raman, Gregory D. Hager, Marin Kobilarov
Combining neural networks and tree search for task and motion planning in challenging environments. IROS (2017)
Matthew Sheckells, Gowtham Garimella, Marin Kobilarov
Robust policy search with applications to safe vehicle navigation. ICRA (2017)
Chris Paxton, Felix Jonathan, Marin Kobilarov, Gregory D. Hager
Do what i want, not what i did: Imitation of skills by planning sequences of actions. IROS (2016)
Chris Paxton, Marin Kobilarov, Gregory D. Hager
Towards Robot Task Planning From Probabilistic Models of Human Skills. CoRR (2016)
Matthew Sheckells, Gowtham Garimella, Marin Kobilarov
Optimal Visual Servoing for differentially flat underactuated systems. IROS (2016)
Gowtham Garimella, Matthew Sheckells, Marin Kobilarov
A stabilizing gyroscopic obstacle avoidance controller for underactuated systems. CDC (2016)
Chris Paxton, Felix Jonathan, Marin Kobilarov, Gregory D. Hager
Do What I Want, Not What I Did: Imitation of Skills by Planning Sequences of Actions. CoRR (2016)
Preetham Chalasani, Long Wang, Rajarshi Roy, Nabil Simaan, Russell H. Taylor, Marin Kobilarov
Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation. ICRA (2016)
Marin Kobilarov
Sample Complexity Bounds for Iterative Stochastic Policy Optimization. NIPS (2015)
Marin Kobilarov, Duy-Nguyen Ta, Frank Dellaert
Differential dynamic programming for optimal estimation. ICRA (2015)
Gowtham Garimella, Marin Kobilarov
Towards model-predictive control for aerial pick-and-place. ICRA (2015)
Marin Kobilarov
Discrete optimal control on lie groups and applications to robotic vehicles. ICRA (2014)
François Demoures, François Gay-Balmaz, Marin Kobilarov, Tudor S. Ratiu
Multisymplectic Lie group variational integrator for a geometrically exact beam in R3. Commun. Nonlinear Sci. Numer. Simul. 19 (10) (2014)
Marin Kobilarov
Nonlinear Trajectory Control of Multi-body Aerial Manipulators. J. Intell. Robotic Syst. 73 (1-4) (2014)
Gregory S. Chirikjian, Marin Kobilarov
Gaussian approximation of non-linear measurement models on Lie groups. CDC (2014)
Fernando Jiménez, Marin Kobilarov, David Martín de Diego
Discrete Variational Optimal Control. J. Nonlinear Sci. 23 (3) (2013)
Marin Kobilarov
Trajectory tracking of a class of underactuated systems with external disturbances. ACC (2013)
Marin Kobilarov
Cross-entropy motion planning. Int. J. Robotics Res. 31 (7) (2012)
Kathrin Flaßkamp, Sina Ober-Blöbaum, Marin Kobilarov
Solving Optimal Control Problems by Exploiting Inherent Dynamical Systems Structures. J. Nonlinear Sci. 22 (4) (2012)
Marin Kobilarov, Jerrold E. Marsden, Gaurav S. Sukhatme
Global estimation in constrained environments. Int. J. Robotics Res. 31 (1) (2012)
Sujit Nair, Marin Kobilarov
Collision avoidance norms in trajectory planning. ACC (2011)
Marin Kobilarov
Cross-Entropy Randomized Motion Planning. Robotics: Science and Systems (2011)
Marin Kobilarov, Jerrold E. Marsden
Discrete Geometric Optimal Control on Lie Groups. IEEE Trans. Robotics 27 (4) (2011)
Andrzej Banaszuk, Vladimir A. Fonoberov, Thomas A. Frewen, Marin Kobilarov, George Mathew, Igor Mezic, Alessandro Pinto, Tuhin Sahai, Harshad S. Sane, Alberto Speranzon, Amit Surana
Scalable Approach to Uncertainty Quantification and Robust Design of Interconnected Dynamical Systems CoRR (2011)
Andrzej Banaszuk, Vladimir A. Fonoberov, Thomas A. Frewen, Marin Kobilarov, George Mathew, Igor Mezic, Alessandro Pinto, Tuhin Sahai, Harshad S. Sane, Alberto Speranzon, Amit Surana
Scalable approach to uncertainty quantification and robust design of interconnected dynamical systems. Annu. Rev. Control. 35 (1) (2011)
Stevan Dubljevic, Marin Kobilarov, James Ng
Discrete mechanics optimal control (DMOC) and model predictive control (MPC) synthesis for reaction-diffusion process system with moving actuator. ACC (2010)
Marin Kobilarov, Keenan Crane, Mathieu Desbrun
Lie group integrators for animation and control of vehicles. ACM Trans. Graph. 28 (2) (2009)
Marin Kobilarov, Mathieu Desbrun, Jerrold E. Marsden, Gaurav S. Sukhatme
A Discrete Geometric Optimal Control Framework for Systems with Symmetries. Robotics: Science and Systems (2007)
Marin Kobilarov, Gaurav S. Sukhatme
Optimal Control Using Nonholonomic Integrators. ICRA (2007)
Marin Kobilarov, Gaurav S. Sukhatme, Jeff Hyams, Parag H. Batavia
People Tracking and Following with Mobile Robot using an Omnidirectional Camera and a Laser. ICRA (2006)
Marin Kobilarov, Gaurav S. Sukhatme
Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain. ICRA (2005)