R. Alterovitz

Most-cited papers

Holding Robots Responsible: The Elements of Machine Morality.
Yochanan E. Bigman, A. Waytz, R. Alterovitz, Kurt Gray
2019Trends in Cognitive Sciences157 citations Open access
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Needle Steering in 3-D Via Rapid Replanning
S. Patil, J. Burgner, R. Webster, R. Alterovitz
2014IEEE Transactions on robotics156 citations Open access
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Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images
G. J. Vrooijink, M. Abayazid, S. Patil, R. Alterovitz +1 more
2014Int. J. Robotics Res.142 citations Open access
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Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty
S. Patil, Jur P. van den Berg, R. Alterovitz
2012IEEE International Conference on Robotics and Automation129 citations
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Robust navigation of a soft growing robot by exploiting contact with the environment
Joseph D. Greer, Laura H. Blumenschein, R. Alterovitz, E. Hawkes +1 more
2019Int. J. Robotics Res.104 citations Open access
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Rapidly-Exploring Roadmaps: Weighing Exploration vs. Refinement in Optimal Motion Planning
R. Alterovitz, S. Patil, Anna Derbakova
2011IEEE International Conference on Robotics and Automation96 citations Open access
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Robot Planning in the Real World: Research Challenges and Opportunities
R. Alterovitz, Sven Koenig, M. Likhachev
2016The AI Magazine90 citations Open access
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High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning
Wen Sun, S. Patil, R. Alterovitz
2015IEEE Transactions on robotics85 citations Open access
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Stochastic Extended LQR for Optimization-based Motion Planning Under Uncertainty
Wen Sun, Jur P. van den Berg, R. Alterovitz
2016IEEE Transactions on Automation Science and Engineering73 citations Open access
Semantic Scholar
Experimental Evaluation of Ultrasound-Guided 3D Needle Steering in Biological Tissue
M. Abayazid, G. J. Vrooijink, S. Patil, R. Alterovitz +1 more
2014International Journal of Computer Assisted Radiology and Surgery73 citations Open access
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Task-oriented design of concentric tube robots using mechanics-based models
Luis G. Torres, R. Webster, R. Alterovitz
20122012 IEEE/RSJ International Conference on Intelligent Robots and Systems72 citations
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Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space
Jur P. van den Berg, S. Patil, R. Alterovitz
2011International Symposium of Robotics Research70 citations
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Continuous Shape Estimation of Continuum Robots Using X-ray Images
Edgar J. Lobaton, Jinghua Fu, Luis G. Torres, R. Alterovitz
2013IEEE International Conference on Robotics and Automation65 citations Open access
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An Experimental Feasibility Study on Robotic Endonasal Telesurgery
R. Wirz, Luis G. Torres, P. Swaney, H. Gilbert +4 more
2015Neurosurgery63 citations Open access
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Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning
Hao-Nan Chen, Hao Tan, A. Kuntz, Mohit Bansal +1 more
2019IEEE International Conference on Robotics and Automation53 citations Open access
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Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles
P. Swaney, A. Mahoney, B. I. Hartley, A. Remirez +4 more
2016J. Medical Robotics Res.52 citations Open access
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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces
M. Abayazid, P. Moreira, Navid Shahriari, S. Patil +2 more
2014Medical Engineering and Physics52 citations Open access
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Autonomous Medical Needle Steering In Vivo
A. Kuntz, Maxwell Emerson, T. Ertop, I. Fried +9 more
2022Science Robotics51 citations Open access
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Parallel sampling-based motion planning with superlinear speedup
Jeffrey Ichnowski, R. Alterovitz
20122012 IEEE/RSJ International Conference on Intelligent Robots and Systems50 citations
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Interactive-rate Motion Planning for Concentric Tube Robots
Luis G. Torres, Cenk Baykal, R. Alterovitz
2014IEEE International Conference on Robotics and Automation49 citations Open access
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A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation
Luis G. Torres, A. Kuntz, H. Gilbert, P. Swaney +3 more
2015IEEE International Conference on Robotics and Automation48 citations Open access
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Learning the Complete Shape of Concentric Tube Robots
A. Kuntz, A. Sethi, R. Webster, R. Alterovitz
2020IEEE Transactions on Medical Robotics and Bionics47 citations Open access
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Motion Planning for a Three-Stage Multilumen Transoral Lung Access System
A. Kuntz, Luis G. Torres, R. Feins, R. Webster +1 more
2015IEEE/RJS International Conference on Intelligent RObots and Systems46 citations Open access
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Tendons, Concentric Tubes, and a Bevel Tip: Three Steerable Robots in One Transoral Lung Access System
P. Swaney, A. Mahoney, A. Remirez, Erik P. Lamers +4 more
2015IEEE International Conference on Robotics and Automation44 citations Open access
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Efficient Approximate Value Iteration for Continuous Gaussian POMDPs
Jur P. van den Berg, S. Patil, R. Alterovitz
2012AAAI Conference on Artificial Intelligence43 citations Open access
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Experimental evaluation of co‐manipulated ultrasound‐guided flexible needle steering
M. Abayazid, Claudio Pacchierotti, P. Moreira, R. Alterovitz +2 more
2016The international journal of medical robotics + computer assisted surgery : MRCAS42 citations Open access
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Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision
Wen Sun, Luis G. Torres, Jur P. van den Berg, R. Alterovitz
2013International Symposium of Robotics Research42 citations Open access
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Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Mengyu Fu, A. Kuntz, Oren Salzman, R. Alterovitz
2019Robotics: Science and Systems Conference39 citations Open access
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Scalable Multicore Motion Planning Using Lock-Free Concurrency
Jeffrey Ichnowski, R. Alterovitz
2014IEEE Transactions on robotics36 citations Open access
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Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization
A. Kuntz, Chris Bowen, R. Alterovitz
2017International Symposium of Robotics Research35 citations
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Optimizing Design Parameters for Sets of Concentric Tube Robots using Sampling-based Motion Planning
Cenk Baykal, Luis G. Torres, R. Alterovitz
2015IEEE/RJS International Conference on Intelligent RObots and Systems34 citations Open access
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Backward Planning for a Multi-Stage Steerable Needle Lung Robot
J. Hoelscher, Mengyu Fu, I. Fried, Maxwell Emerson +6 more
2021IEEE Robotics and Automation Letters30 citations Open access
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Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
Mengyu Fu, Oren Salzman, R. Alterovitz
2021IEEE International Conference on Robotics and Automation30 citations Open access
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Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images
Mengyu Fu, A. Kuntz, R. Webster, R. Alterovitz
2018IEEE/RJS International Conference on Intelligent RObots and Systems30 citations Open access
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The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames
Qingyu Zhao, True Price, S. Pizer, M. Niethammer +2 more
2016International Conference on Medical Image Computing and Computer-Assisted Intervention30 citations Open access
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Closed-loop global motion planning for reactive execution of learned tasks
Chris Bowen, R. Alterovitz
20142014 IEEE/RSJ International Conference on Intelligent Robots and Systems30 citations
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Asymptotically Optimal Kinematic Design of Robots using Motion Planning
Cenk Baykal, Chris Bowen, R. Alterovitz
2018Autonomous Robots29 citations Open access
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Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning
Jeffrey Ichnowski, R. Alterovitz
2014Workshop on the Algorithmic Foundations of Robotics29 citations
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Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs
Jeffrey Ichnowski, R. Alterovitz
2019IEEE International Conference on Robotics and Automation28 citations
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Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing
Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis +4 more
2020IEEE International Conference on Robotics and Automation26 citations
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Two Large Open-Access Datasets for Fitts’ Law of Human Motion and a Succinct Derivation of the Square-Root Variant
Ken Goldberg, S. Faridani, R. Alterovitz
2015IEEE Transactions on Human-Machine Systems26 citations Open access
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Needle Steering in Biological Tissue using Ultrasound-based Online Curvature Estimation
P. Moreira, S. Patil, R. Alterovitz, S. Misra
2014IEEE International Conference on Robotics and Automation26 citations Open access
Semantic Scholar
Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces
Jeffrey Ichnowski, R. Alterovitz
2018Workshop on the Algorithmic Foundations of Robotics24 citations
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Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning
Cenk Baykal, R. Alterovitz
2017Robotics: Science and Systems Conference24 citations Open access
Semantic Scholar
Cloud-based Motion Plan Computation for Power-Constrained Robots
Jeffrey Ichnowski, J. Prins, R. Alterovitz
2016Workshop on the Algorithmic Foundations of Robotics23 citations
Semantic Scholar
Decoupling Steerability from Diameter: Helical Dovetail Laser Patterning for Steerable Needles
M. Rox, Maxwell Emerson, T. Ertop, I. Fried +11 more
2020IEEE Access22 citations Open access
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Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and Optimization
A. Kuntz, Mengyu Fu, R. Alterovitz
2019IEEE/RJS International Conference on Intelligent RObots and Systems21 citations Open access
Semantic Scholar
Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps
Chris Bowen, Gu Ye, R. Alterovitz
2014IEEE Transactions on Automation Science and Engineering21 citations Open access
Semantic Scholar
Motion Planning under Uncertainty for Medical Needle Steering Using Optimization in Belief Space
Wen Sun, R. Alterovitz
20142014 IEEE/RSJ International Conference on Intelligent Robots and Systems21 citations Open access
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Design and Control of a Compact, Modular Robot for Transbronchial Lung Biopsy
Stephanie Amack, M. Rox, Jason E. Mitchell, T. Ertop +7 more
2019Medical Imaging19 citations Open access
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