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Ron Alterovitz - Publications

Affiliations: 
Computer Science University of North Carolina, Chapel Hill, Chapel Hill, NC 
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62 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2023 Fu M, Solovey K, Salzman O, Alterovitz R. Toward certifiable optimal motion planning for medical steerable needles. The International Journal of Robotics Research. 42: 798-826. PMID 37905207 DOI: 10.1177/02783649231165818  0.381
2023 Kuntz A, Emerson M, Ertop TE, Fried I, Fu M, Hoelscher J, Rox M, Akulian J, Gillaspie EA, Lee YZ, Maldonado F, Webster RJ, Alterovitz R. Autonomous medical needle steering in vivo. Science Robotics. 8: eadf7614. PMID 37729421 DOI: 10.1126/scirobotics.adf7614  0.379
2022 Hoelscher J, Fried I, Fu M, Patwardhan M, Christman M, Akulian J, Webster RJ, Alterovitz R. A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 2022: 9526-9533. PMID 37153690 DOI: 10.1109/iros47612.2022.9982227  0.385
2022 Fu M, Solovey K, Salzman O, Alterovitz R. Resolution-Optimal Motion Planning for Steerable Needles. Ieee International Conference On Robotics and Automation : Icra : [Proceedings]. Ieee International Conference On Robotics and Automation. 2022: 9652-9659. PMID 36337768 DOI: 10.1109/icra46639.2022.9811850  0.375
2022 Fu M, Salzman O, Alterovitz R. Toward Certifiable Motion Planning for Medical Steerable Needles. Robotics Science and Systems : Online Proceedings. 2021. PMID 36312204 DOI: 10.15607/rss.2021.xvii.081  0.374
2020 Greer JD, Blumenschein LH, Alterovitz R, Hawkes EW, Okamura AM. Robust navigation of a soft growing robot by exploiting contact with the environment The International Journal of Robotics Research. 27836492090377. DOI: 10.1177/0278364920903774  0.426
2019 Kuntz A, Fu M, Alterovitz R. Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and Optimization. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 2019: 2205-2212. PMID 32355572 DOI: 10.1109/IROS40897.2019.8968172  0.391
2019 Fu M, Kuntz A, Salzman O, Alterovitz R. Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search. Robotics Science and Systems : Online Proceedings. 2019. PMID 32318619 DOI: 10.15607/rss.2019.xv.057  0.383
2019 Niyaz S, Kuntz A, Salzman O, Alterovitz R, Srinivasa SS. Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 2019: 1355-1362. PMID 32318314 DOI: 10.1109/IROS40897.2019.8968575  0.381
2019 Baykal C, Bowen C, Alterovitz R. Asymptotically Optimal Kinematic Design of Robots using Motion Planning. Autonomous Robots. 43: 345-357. PMID 31007394 DOI: 10.1007/S10514-018-9766-X  0.457
2019 Bigman YE, Waytz A, Alterovitz R, Gray K. Holding Robots Responsible: The Elements of Machine Morality. Trends in Cognitive Sciences. PMID 30962074 DOI: 10.1016/J.Tics.2019.02.008  0.367
2018 Alterovitz R, Bekris K. Guest Editorial Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR) Ieee Transactions On Automation Science and Engineering. 15: 906-907. DOI: 10.1109/Tase.2018.2829938  0.408
2017 Ye G, Alterovitz R. Demonstration-guided motion planning Springer Tracts in Advanced Robotics. 100: 291-307. DOI: 10.1007/978-3-319-29363-9_17  0.363
2016 Sun W, van den Berg J, Alterovitz R. Stochastic Extended LQR for Optimization-based Motion Planning Under Uncertainty. Ieee Transactions On Automation Science and Engineering : a Publication of the Ieee Robotics and Automation Society. 13: 437-447. PMID 28163662 DOI: 10.1109/TASE.2016.2517124  0.352
2016 Alterovitz R, Koenig S, Likhachev M. Robot Planning in the Real World: Research Challenges and Opportunities Ai Magazine. 37: 76. DOI: 10.1609/Aimag.V37I2.2651  0.439
2016 Sun W, Torres LG, Van Den Berg J, Alterovitz R. Safe motion planning for imprecise robotic manipulators by minimizing probability of collision Springer Tracts in Advanced Robotics. 114: 685-701. DOI: 10.1007/978-3-319-28872-7_39  0.436
2015 Baykal C, Torres LG, Alterovitz R. Optimizing Design Parameters for Sets of Concentric Tube Robots using Sampling-based Motion Planning. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 2015: 4381-4387. PMID 26951790 DOI: 10.1109/IROS.2015.7353999  0.359
2015 Torres LG, Kuntz A, Gilbert HB, Swaney PJ, Hendrick RJ, Webster RJ, Alterovitz R. A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2015: 2361-2367. PMID 26413381 DOI: 10.1109/ICRA.2015.7139513  0.362
2015 Sun W, Patil S, Alterovitz R. High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning. Ieee Transactions On Robotics : a Publication of the Ieee Robotics and Automation Society. 31: 104-116. PMID 26279645 DOI: 10.1109/TRO.2014.2380273  0.548
2015 Bowen C, Ye G, Alterovitz R. Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps. Ieee Transactions On Automation Science and Engineering : a Publication of the Ieee Robotics and Automation Society. 12: 171-182. PMID 26279642 DOI: 10.1109/TASE.2014.2342718  0.303
2015 Abayazid M, Pacchierotti C, Moreira P, Alterovitz R, Prattichizzo D, Misra S. Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering. The International Journal of Medical Robotics + Computer Assisted Surgery : Mrcas. PMID 26173754 DOI: 10.1002/Rcs.1680  0.371
2015 Wirz R, Torres LG, Swaney PJ, Gilbert H, Alterovitz R, Webster RJ, Weaver KD, Russell PT. An experimental feasibility study on robotic endonasal telesurgery. Neurosurgery. 76: 479-84; discussion 4. PMID 25599203 DOI: 10.1227/Neu.0000000000000623  0.403
2015 Abayazid M, Moreira P, Shahriari N, Patil S, Alterovitz R, Misra S. Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces. Medical Engineering & Physics. 37: 145-50. PMID 25455165 DOI: 10.1016/J.Medengphy.2014.10.005  0.533
2015 Sun W, Patil S, Alterovitz R. High-frequency replanning under uncertainty using parallel sampling-based motion planning Ieee Transactions On Robotics. 31: 104-116. DOI: 10.1109/TRO.2014.2380273  0.461
2015 Goldberg K, Faridani S, Alterovitz R. Two large open-access datasets for fitts' law of human motion and a succinct derivation of the square-root variant Ieee Transactions On Human-Machine Systems. 45. DOI: 10.1109/Thms.2014.2360281  0.334
2015 Baykal C, Torres LG, Alterovitz R. Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning Ieee International Conference On Intelligent Robots and Systems. 2015: 4381-4387. DOI: 10.1109/IROS.2015.7353999  0.353
2015 Torres LG, Kuntz A, Gilbert HB, Swaney PJ, Hendrick RJ, Webster RJ, Alterovitz R. A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation Proceedings - Ieee International Conference On Robotics and Automation. 2015: 2361-2367. DOI: 10.1109/ICRA.2015.7139513  0.378
2015 Wirz R, Torres L, Swaney P, Gilbert H, Alterovitz R, Webster R, Weaver K, Russell P. Teleoperation of Concentric Tube Robots for Skull Base Applications: Pituitary Surgery at a Distance? Journal of Neurological Surgery Part B: Skull Base. 76. DOI: 10.1055/S-0035-1546615  0.389
2014 Vrooijink GJ, Abayazid M, Patil S, Alterovitz R, Misra S. Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. The International Journal of Robotics Research. 33: 1361-1374. PMID 26279600 DOI: 10.1177/0278364914526627  0.589
2014 Moreira P, Patil S, Alterovitz R, Misra S. Needle Steering in Biological Tissue using Ultrasound-based Online Curvature Estimation. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2014: 4368-4373. PMID 26229729 DOI: 10.1109/ICRA.2014.6907495  0.507
2014 Ichnowski J, Alterovitz R. Scalable Multicore Motion Planning Using Lock-Free Concurrency. Ieee Transactions On Robotics : a Publication of the Ieee Robotics and Automation Society. 30: 1123-1136. PMID 26167135 DOI: 10.1109/TRO.2014.2331091  0.334
2014 Sun W, Alterovitz R. Motion Planning under Uncertainty for Medical Needle Steering Using Optimization in Belief Space. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2014: 1775-1781. PMID 26097770 DOI: 10.1109/IROS.2014.6942795  0.378
2014 Torres LG, Baykal C, Alterovitz R. Interactive-rate Motion Planning for Concentric Tube Robots. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2014: 1915-1921. PMID 25436176 DOI: 10.1109/ICRA.2014.6907112  0.394
2014 Patil S, Burgner J, Webster RJ, Alterovitz R. Needle Steering in 3-D Via Rapid Replanning. Ieee Transactions On Robotics : a Publication of the Ieee Robotics and Automation Society. 30: 853-864. PMID 25435829 DOI: 10.1109/TRO.2014.2307633  0.558
2014 Ichnowski J, Prins JF, Alterovitz R. Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2014: 5804-5810. PMID 25419474 DOI: 10.1109/ICRA.2014.6907712  0.407
2014 Abayazid M, Vrooijink GJ, Patil S, Alterovitz R, Misra S. Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue. International Journal of Computer Assisted Radiology and Surgery. PMID 24562744 DOI: 10.1007/s11548-014-0987-y  0.48
2014 Vrooijink GJ, Abayazid M, Patil S, Alterovitz R, Misra S. Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images International Journal of Robotics Research. 33: 1361-1374. DOI: 10.1177/0278364914526627  0.464
2014 Moreira P, Patil S, Alterovitz R, Misra S. Needle steering in biological tissue using ultrasound-based online curvature estimation Proceedings - Ieee International Conference On Robotics and Automation. 4368-4373. DOI: 10.1109/ICRA.2014.6907495  0.405
2013 Lobaton EJ, Fu J, Torres LG, Alterovitz R. Continuous Shape Estimation of Continuum Robots Using X-ray Images. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2013: 725-732. PMID 26279960 DOI: 10.1109/ICRA.2013.6630653  0.324
2012 van den Berg J, Patil S, Alterovitz R. Motion planning under uncertainty using iterative local optimization in belief space The International Journal of Robotics Research. 31: 1263-1278. DOI: 10.1177/0278364912456319  0.555
2012 Patil S, Van Den Berg J, Alterovitz R. Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty Proceedings - Ieee International Conference On Robotics and Automation. 3238-3244. DOI: 10.1109/ICRA.2012.6224727  0.47
2012 Van Den Berg J, Patil S, Alterovitz R. Efficient approximate value iteration for continuous Gaussian POMDPs Proceedings of the National Conference On Artificial Intelligence. 3: 1832-1838.  0.33
2011 Torres LG, Alterovitz R. Motion Planning for Concentric Tube Robots Using Mechanics-based Models. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 5153-5159. PMID 25000192 DOI: 10.1109/IROS.2011.6095168  0.377
2011 Reed KB, Majewicz A, Kallem V, Alterovitz R, Goldberg K, Cowan NJ, Okamura AM. Robot-Assisted Needle Steering. Ieee Robotics & Automation Magazine / Ieee Robotics & Automation Society. 18: 35-46. PMID 23028210 DOI: 10.1109/MRA.2011.942997  0.394
2011 Lobaton E, Zhang J, Patil S, Alterovitz R. Planning Curvature-Constrained Paths to Multiple Goals Using Circle Sampling. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 1463-1469. PMID 22294101 DOI: 10.1109/ICRA.2011.5980446  0.519
2011 Alterovitz R, Patil S, Derbakova A. Rapidly-Exploring Roadmaps: Weighing Exploration vs. Refinement in Optimal Motion Planning. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 3706-3712. PMID 22294046 DOI: 10.1109/ICRA.2011.5980286  0.523
2011 Cowan NJ, Goldberg K, Chirikjian GS, Fichtinger G, Alterovitz R, Reed KB, Kallem V, Park W, Misra S, Okamura AM. Robotic needle steering: Design, modeling, planning, and image guidance Surgical Robotics: Systems Applications and Visions. 557-582. DOI: 10.1007/978-1-4419-1126-1_23  0.322
2010 Patil S, Alterovitz R. Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles. Proceedings of the ... Ieee/Ras-Embs International Conference On Biomedical Robotics and Biomechatronics. Ieee/Ras-Embs International Conference On Biomedical Robotics and Biomechatronics. 893-899. PMID 22294214 DOI: 10.1109/BIOROB.2010.5625965  0.56
2010 Duindam V, Xu J, Alterovitz R, Sastry S, Goldberg K. Three-dimensional motion planning algorithms for steerable needles using inverse kinematics International Journal of Robotics Research. 29: 789-800. DOI: 10.1177/0278364909352202  0.439
2010 Patil S, Alterovitz R. Toward automated tissue retraction in robot-assisted surgery Proceedings - Ieee International Conference On Robotics and Automation. 2088-2094. DOI: 10.1109/ROBOT.2010.5509607  0.455
2010 Van Den Berg J, Patil S, Alterovitz R, Abbeel P, Goldberg K. LQG-based planning, sensing, and control of steerable needles Springer Tracts in Advanced Robotics. 68: 373-389. DOI: 10.1007/978-3-642-17452-0_22  0.438
2009 Xu J, Duindam V, Alterovitz R, Pouliot J, Cunha JA, Hsu IC, Goldberg K. Planning Fireworks Trajectories for Steerable Medical Needles to Reduce Patient Trauma. Proceedings of the ... Ieee/Rsj International Conference On Intelligent Robots and Systems. Ieee/Rsj International Conference On Intelligent Robots and Systems. 4517-4522. PMID 25946259 DOI: 10.1109/IROS.2009.5354787  0.341
2009 Duindam V, Xu J, Alterovitz R, Sastry S, Goldberg K. 3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. The International Journal of Robotics Research. 57: 535-549. PMID 21359051 DOI: 10.1007/978-3-642-00312-7_33  0.342
2009 Hauser K, Alterovitz R, Chentanez N, Okamura A, Goldberg K. Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. Robotics Science and Systems : Online Proceedings. 37. PMID 21179401  0.305
2009 Alterovitz R, Goldberg KY, Pouliot J, Hsu IC. Sensorless motion planning for medical needle insertion in deformable tissues. Ieee Transactions On Information Technology in Biomedicine : a Publication of the Ieee Engineering in Medicine and Biology Society. 13: 217-25. PMID 19126473 DOI: 10.1109/TITB.2008.2008393  0.33
2009 Alterovitz R, Desai JP. Surgical robotics Ieee Robotics and Automation Magazine. 16: 16-17. DOI: 10.1109/Mra.2009.932616  0.405
2008 Duindam V, Alterovitz R, Sastry S, Goldberg K. Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles. Ieee International Conference On Robotics and Automation : Icra : [Proceedings] Ieee International Conference On Robotics and Automation. 2483-2488. PMID 22146911 DOI: 10.1109/ROBOT.2008.4543586  0.425
2008 Reed KB, Kallem V, Alterovitz R, Goldberg K, Okamura AM, Cowan NJ. Integrated Planning and Image-Guided Control for Planar Needle Steering. Proceedings of the ... Ieee/Ras-Embs International Conference On Biomedical Robotics and Biomechatronics. Ieee/Ras-Embs International Conference On Biomedical Robotics and Biomechatronics. 2008: 819-824. PMID 20640197 DOI: 10.1109/BIOROB.2008.4762833  0.347
2008 Alterovitz R, Branicky M, Goldberg K. Motion Planning Under Uncertainty for Image-guided Medical Needle Steering. The International Journal of Robotics Research. 27: 1361-1374. PMID 19890445 DOI: 10.1177/0278364908097661  0.484
2008 Jijie X, Duindam V, Alterovitz R, Goldberg K. Motion planning for steerable needles in 3D environments with obstacles using Rapidly-exploring random trees and backchaining 4th Ieee Conference On Automation Science and Engineering, Case 2008. 41-46. DOI: 10.1109/COASE.2008.4626486  0.342
2008 Alterovitz R, Branicky M, Goldberg K. Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering Springer Tracts in Advanced Robotics. 47: 319-334. DOI: 10.1007/978-3-540-68405-3_20  0.307
2006 Alterovitz R, Goldberg K, Pouliot J, Hsu IC, Kim Y, Noworolski SM, Kurhanewicz J. Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation. Medical Physics. 33: 446-54. PMID 16532952 DOI: 10.1118/1.2163391  0.317
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