Ron Alterovitz

ORCID

Publication Activity (10 Years)

Years Active: 2003-2024
Publications (10 Years): 58

Top Venues

Publications

Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR (2024)
Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
Safe Start Regions for Medical Steerable Needle Automation. CoRR (2024)
Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz
Incorporating Retakes in a Robotics Class with Labs. SIGCSE (2) (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)
Inbar Fried, Janine Hoelscher, Jason A. Akulian, Ron Alterovitz
A Dataset of Anatomical Environments for Medical Robots: Modeling Respiratory Deformation. 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)
Inbar Fried, Janine Hoelscher, Jason A. Akulian, Stephen M. Pizer, Ron Alterovitz
Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation. IROS (2023)
Bryce Ikeda, Janine Hoelscher, Ron Alterovitz, Daniel Szafir
Guiding the Development of Undergraduate Educational Robotics. CompEd (1) (2023)
Angelos Angelopoulos, Matthew Verber, Collin McKinney, James Cahoon, Ron Alterovitz
High-Accuracy Injection Using a Mobile Manipulation Robot for Chemistry Lab Automation. IROS (2023)
Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
Toward certifiable optimal motion planning for medical steerable needles. Int. J. Robotics Res. 42 (10) (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. CoRR (2022)
Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
Resolution-Optimal Motion Planning for Steerable Needles. ICRA (2022)
Inbar Fried, Jason A. Akulian, Ron Alterovitz
A Clinical Dataset for the Evaluation of Motion Planners in Medical Applications. CoRR (2022)
Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster, Ron Alterovitz
A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. IROS (2022)
Mengyu Fu, Oren Salzman, Ron Alterovitz
Toward Certifiable Motion Planning for Medical Steerable Needles. Robotics: Science and Systems (2021)
Mengyu Fu, Oren Salzman, Ron Alterovitz
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. ICRA (2021)
Mengyu Fu, Oren Salzman, Ron Alterovitz
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. 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)
Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
Resolution-Optimal Motion Planning for Steerable Needles. CoRR (2021)
Mengyu Fu, Oren Salzman, Ron Alterovitz
Toward Certifiable Motion Planning for Medical 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)
Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg
Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. ICRA (2020)
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)
Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
Robust navigation of a soft growing robot by exploiting contact with the environment. Int. J. Robotics Res. 39 (14) (2020)
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. ICRA (2020)
Cenk Baykal, Chris Bowen, Ron Alterovitz
Asymptotically optimal kinematic design of robots using motion planning. Auton. Robots 43 (2) (2019)
Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. CoRR (2019)
Jeffrey Ichnowski, Ron Alterovitz
Multilevel Incremental Roadmap Spanners for Reactive Motion Planning. IROS (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)
Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment. CoRR (2019)
Shiwei Fang, Ron Alterovitz, Shahriar Nirjon
Non-Line-of-Sight Around the Corner Human Presence Detection Using Commodity WiFi Devices. DFHS@BuildSys (2019)
Jeffrey Ichnowski, Ron Alterovitz
Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs. ICRA (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)
Chris Bowen, Ron Alterovitz
Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations. WAFR (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)
Ron Alterovitz, Kostas E. Bekris
Guest Editorial Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR). IEEE Trans Autom. Sci. Eng. 15 (3) (2018)
Chris Bowen, Ron Alterovitz
Closed-Loop Global Motion Planning for Reactive, Collision-Free Execution of Learned Tasks. ACM Trans. Hum. Robot Interact. 7 (1) (2018)
Jeffrey Ichnowski, Ron Alterovitz
Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces. WAFR (2018)
Cenk Baykal, Ron Alterovitz
Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning. Robotics: Science and Systems (2017)
Alan Kuntz, Chris Bowen, Ron Alterovitz
Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. ISRR (2017)
Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
The Economic Case for Cloud-Based Computation for Robot Motion Planning. ISRR (2017)
Chris Bowen, Ron Alterovitz
Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling. ISRR (2017)
Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster
Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. J. Medical Robotics Res. 2 (1) (2017)
Qingyu Zhao, Stephen M. Pizer, Ron Alterovitz, Marc Niethammer, Julian G. Rosenman
Orthotropic Thin Shell Elasticity Estimation for Surface Registration. IPMI (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)
Ron Alterovitz, Sven Koenig, Maxim Likhachev
Robot Planning in the Real World: Research Challenges and Opportunities. AI Mag. 37 (2) (2016)
Alan Kuntz, Chris Bowen, Ron Alterovitz
Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. CoRR (2016)
Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
Cloud-based Motion Plan Computation for Power-Constrained Robots. WAFR (2016)
Qingyu Zhao, True Price, Stephen M. Pizer, Marc Niethammer, Ron Alterovitz, Julian G. Rosenman
The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames. MICCAI (1) (2016)
Chris Bowen, Ron Alterovitz
Asymptotically Optimal Motion Planning for Tasks Using Learned Virtual Landmarks. IEEE Robotics Autom. Lett. 1 (2) (2016)
Wen Sun, Jur van den Berg, Ron Alterovitz
Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertainty. IEEE Trans Autom. Sci. Eng. 13 (2) (2016)
Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III
Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. ISRR (1) (2015)
Wen Sun, Sachin Patil, Ron Alterovitz
High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning. IEEE Trans. Robotics 31 (1) (2015)
Qingyu Zhao, James Price, Stephen M. Pizer, Marc Niethammer, Ron Alterovitz, Julian G. Rosenman
Surface Registration in the Presence of Missing Patches and Topology Change. MIUA (2015)
Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster
Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. ICRA (2015)
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)
Cenk Baykal, Luis G. Torres, Ron Alterovitz
Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. IROS (2015)
Kenneth Y. Goldberg, Siamak Faridani, Ron Alterovitz
Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. IEEE Trans. Hum. Mach. Syst. 45 (1) (2015)
Chris Bowen, Gu Ye, Ron Alterovitz
Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps. IEEE Trans Autom. Sci. Eng. 12 (1) (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)
Momen Abayazid, Gustaaf J. Vrooijink, Sachin Patil, Ron Alterovitz, Sarthak Misra
Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue. Int. J. Comput. Assist. Radiol. Surg. 9 (6) (2014)
Jeffrey Ichnowski, Ron Alterovitz
Scalable Multicore Motion Planning Using Lock-Free Concurrency. IEEE Trans. Robotics 30 (5) (2014)
Wen Sun, Islam S. M. Khalil, Sarthak Misra, Ron Alterovitz
Motion planning for paramagnetic microparticles under motion and sensing uncertainty. ICRA (2014)
Wen Sun, Jur van den Berg, Ron Alterovitz
Stochastic Extended LQR: Optimization-Based Motion Planning Under Uncertainty. WAFR (2014)
Wen Sun, Ron Alterovitz
Motion planning under uncertainty for medical needle steering using optimization in belief space. IROS (2014)
Sachin Patil, Jessica Burgner, Robert J. Webster, Ron Alterovitz
Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics 30 (4) (2014)
Luis G. Torres, Cenk Baykal, Ron Alterovitz
Interactive-rate motion planning for concentric tube robots. ICRA (2014)
Gustaaf J. Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra
Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. Int. J. Robotics Res. 33 (10) (2014)
Jeffrey Ichnowski, Ron Alterovitz
Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning. WAFR (2014)
Pedro Moreira, Sachin Patil, Ron Alterovitz, Sarthak Misra
Needle steering in biological tissue using ultrasound-based online curvature estimation. ICRA (2014)
Chris Bowen, Ron Alterovitz
Closed-loop global motion planning for reactive execution of learned tasks. IROS (2014)
Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
Cache-aware asymptotically-optimal sampling-based motion planning. ICRA (2014)
Edgar J. Lobaton, Jinghua Fu, Luis G. Torres, Ron Alterovitz
Continuous shape estimation of continuum robots using X-ray images. ICRA (2013)
Andinet Enquobahrie, Vikas Shivaprabhu, Stephen R. Aylward, Julien Finet, Kevin Cleary, Ron Alterovitz
Patient-specific port placement for laparoscopic surgery using atlas-based registration. Medical Imaging: Image-Guided Procedures (2013)
Wen Sun, Luis G. Torres, Jur van den Berg, Ron Alterovitz
Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision. ISRR (2013)
Jur van den Berg, Sachin Patil, Ron Alterovitz
Efficient Approximate Value Iteration for Continuous Gaussian POMDPs. AAAI (2012)
Luis G. Torres, Robert J. Webster, Ron Alterovitz
Task-oriented design of concentric tube robots using mechanics-based models. IROS (2012)
Jur van den Berg, Sachin Patil, Ron Alterovitz
Motion planning under uncertainty using iterative local optimization in belief space. Int. J. Robotics Res. 31 (11) (2012)
Jeffrey Ichnowski, Ron Alterovitz
Parallel sampling-based motion planning with superlinear speedup. IROS (2012)
Sachin Patil, Jur van den Berg, Ron Alterovitz
Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty. ICRA (2012)
Edgar J. Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz
Planning curvature-constrained paths to multiple goals using circle sampling. ICRA (2011)
Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura
Robot-Assisted Needle Steering. IEEE Robotics Autom. Mag. 18 (4) (2011)
Jur van den Berg, Sachin Patil, Ron Alterovitz
Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space. ISRR (2011)
Luis G. Torres, Ron Alterovitz
Motion planning for concentric tube robots using mechanics-based models. IROS (2011)
Gu Ye, Ron Alterovitz
Demonstration-Guided Motion Planning. ISRR (2011)
Edgar J. Lobaton, Ramanarayan Vasudevan, Ron Alterovitz, Ruzena Bajcsy
Robust topological features for deformation invariant image matching. ICCV (2011)
Ron Alterovitz, Sachin Patil, Anna Derbakova
Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning. ICRA (2011)
Sachin Patil, Jur van den Berg, Ron Alterovitz
Motion Planning Under Uncertainty In Highly Deformable Environments. Robotics: Science and Systems (2011)
Lisa A. Lyons, Robert J. Webster, Ron Alterovitz
Planning active cannula configurations through tubular anatomy. ICRA (2010)
Edgar J. Lobaton, Ramanarayan Vasudevan, Ruzena Bajcsy, Ron Alterovitz
Local Occlusion Detection under Deformations Using Topological Invariants. ECCV (3) (2010)
Sachin Patil, Ron Alterovitz
Toward automated tissue retraction in robot-assisted surgery. ICRA (2010)
Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Int. J. Robotics Res. 29 (7) (2010)
Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Kenneth Y. Goldberg
LQG-Based Planning, Sensing, and Control of Steerable Needles. WAFR (2010)

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Publication Activity (10 Years)

Top Topics

Top Venues

Ron Alterovitz