Ron Alterovitz

132 papers A* 29A 19C 14Journal 48Unranked 21

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Contact-Aware Path Planning for Autonomous Neuroendovascular Navigation. IEEE Robotics Autom. Lett. Aabha Tamhankar, Ron Alterovitz, Ajit S. Puri, Giovanni Pittiglio
2026	J	`jnl`	Contact-aware Path Planning for Autonomous Neuroendovascular Navigation. CoRR Aabha Tamhankar, Ron Alterovitz, Ajit S. Puri, Giovanni Pittiglio
2025	A*	`conf`	A System for Endoscopic Submucosal Dissection Featuring Concentric Push-Pull Manipulators. ICRA Peter Connor, Carter Hatch, Khoa T. Dang, Tony Qin, Ron Alterovitz, Caleb Rucker, Robert J. Webster III
2025	J	`jnl`	Generalizing Multi-Objective Search via Objective-Aggregation Functions. CoRR Hadar Peer, Eyal Weiss, Ron Alterovitz, Oren Salzman
2025	J	`jnl`	Medical needles in the hands of AI: Advancing toward autonomous robotic navigation. Sci. Robotics Ron Alterovitz, Janine Hoelscher, Alan Kuntz
2025	A*	`conf`	On the Necessity of Real-Time Principles in GPU-Driven Autonomous Robots. ICRA Syed W. Ali, Angelos Angelopoulos, Denver Massey, Sarah Haddix, Alexander Georgiev, Joseph Goh, Rohan Wagle, Prakash Sarathy, James H. Anderson, Ron Alterovitz
2025	A*	`conf`	Resolution Optimal Motion Planning for Medical Needle Steering from Airway Walls in the Lung. ICRA Janine Hoelscher, Inbar Fried, Oren Salzman, Ron Alterovitz
2025	J	`jnl`	Safe Start Regions for Medical Steerable Needle Automation. IEEE Trans. Robotics Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2025	J	`jnl`	Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes. J. Medical Robotics Res. Khoa T. Dang, Carter Hatch, Peter Connor, Stephen Qiu, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
2025	A*	`conf`	The Experiment Orchestration System (EOS): Comprehensive Foundation for Laboratory Automation. ICRA Angelos Angelopoulos, Cem Baykal, Jade Kandel, Matthew Verber, James Cahoon, Ron Alterovitz
2025	J	`jnl`	VIN-NBV: A View Introspection Network for Next-Best-View Selection for Resource-Efficient 3D Reconstruction. CoRR Noah Frahm, Dongxu Zhao, Andrea Dunn Beltran, Ron Alterovitz, Jan-Michael Frahm, Junier Oliva, Roni Sengupta
2024	—	`conf`	Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker
2024	—	`conf`	Incorporating Retakes in a Robotics Class with Labs. SIGCSE (2) Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz
2024	J	`jnl`	Safe Start Regions for Medical Steerable Needle Automation. CoRR Janine Hoelscher, Inbar Fried, Spiros Tsalikis, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2024	J	`jnl`	Transforming science labs into automated factories of discovery. Sci. Robotics Angelos Angelopoulos, James Cahoon, Ron Alterovitz
2023	J	`jnl`	A Dataset of Anatomical Environments for Medical Robots: Modeling Respiratory Deformation. CoRR Inbar Fried, Janine Hoelscher, Jason A. Akulian, Ron Alterovitz
2023	J	`jnl`	Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps. Int. J. Robotics Res. Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2023	J	`jnl`	Autonomous medical needle steering in vivo. Sci. Robotics 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
2023	—	`conf`	Guiding the Development of Undergraduate Educational Robotics. CompEd (1) Bryce Ikeda, Janine Hoelscher, Ron Alterovitz, Daniel Szafir
2023	A	`conf`	High-Accuracy Injection Using a Mobile Manipulation Robot for Chemistry Lab Automation. IROS Angelos Angelopoulos, Matthew Verber, Collin McKinney, James Cahoon, Ron Alterovitz
2023	A	`conf`	Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation. IROS Inbar Fried, Janine Hoelscher, Jason A. Akulian, Stephen M. Pizer, Ron Alterovitz
2023	J	`jnl`	Toward certifiable optimal motion planning for medical steerable needles. Int. J. Robotics Res. Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
2022	J	`jnl`	A Clinical Dataset for the Evaluation of Motion Planners in Medical Applications. CoRR Inbar Fried, Jason A. Akulian, Ron Alterovitz
2022	A	`conf`	A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. IROS Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2022	J	`jnl`	Autonomous Medical Needle Steering In Vivo. CoRR 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
2022	A*	`conf`	Resolution-Optimal Motion Planning for Steerable Needles. ICRA Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
2021	J	`jnl`	A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. CoRR 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
2021	J	`jnl`	Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics Autom. Lett. Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2021	A*	`conf`	Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. ICRA Mengyu Fu, Oren Salzman, Ron Alterovitz
2021	J	`jnl`	Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. CoRR Mengyu Fu, Oren Salzman, Ron Alterovitz
2021	A*	`conf`	Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. ICRA Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz
2021	J	`jnl`	Resolution-Optimal Motion Planning for Steerable Needles. CoRR Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz
2021	—	`conf`	Toward Certifiable Motion Planning for Medical Steerable Needles. Robotics: Science and Systems Mengyu Fu, Oren Salzman, Ron Alterovitz
2021	J	`jnl`	Toward Certifiable Motion Planning for Medical Steerable Needles. CoRR Mengyu Fu, Oren Salzman, Ron Alterovitz
2020	—	`conf`	A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. ISER 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
2020	J	`jnl`	Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access 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 III
2020	A*	`conf`	Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. ICRA Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
2020	A*	`conf`	Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. ICRA Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg
2020	J	`jnl`	Robust navigation of a soft growing robot by exploiting contact with the environment. Int. J. Robotics Res. Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
2019	J	`jnl`	Asymptotically optimal kinematic design of robots using motion planning. Auton. Robots Cenk Baykal, Chris Bowen, Ron Alterovitz
2019	—	`conf`	Design and control of a compact modular robot for transbronchial lung biopsy. Image-Guided Procedures 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 III
2019	J	`jnl`	Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. CoRR Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz
2019	A*	`conf`	Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs. ICRA Jeffrey Ichnowski, Ron Alterovitz
2019	A	`conf`	Multilevel Incremental Roadmap Spanners for Reactive Motion Planning. IROS Jeffrey Ichnowski, Ron Alterovitz
2019	—	`conf`	Non-Line-of-Sight Around the Corner Human Presence Detection Using Commodity WiFi Devices. DFHS@BuildSys Shiwei Fang, Ron Alterovitz, Shahriar Nirjon
2019	A	`conf`	Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. IROS Alan Kuntz, Mengyu Fu, Ron Alterovitz
2019	J	`jnl`	Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment. CoRR Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz, Elliot W. Hawkes, Allison M. Okamura
2019	—	`conf`	Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search. Robotics: Science and Systems Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2019	J	`jnl`	Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search. CoRR Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz
2019	A	`conf`	optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. IROS Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
2018	J	`jnl`	Closed-Loop Global Motion Planning for Reactive, Collision-Free Execution of Learned Tasks. ACM Trans. Hum. Robot Interact. Chris Bowen, Ron Alterovitz
2018	C	`conf`	Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces. WAFR Jeffrey Ichnowski, Ron Alterovitz
2018	—	`conf`	Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs. ISER Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa
2018	J	`jnl`	Guest Editorial Special Issue on the 2016 Workshop on the Algorithmic Foundations of Robotics (WAFR). IEEE Trans Autom. Sci. Eng. Ron Alterovitz, Kostas E. Bekris
2018	A*	`conf`	Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. ICRA Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2018	C	`conf`	Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations. WAFR Chris Bowen, Ron Alterovitz
2018	A	`conf`	Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. IROS Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz
2017	C	`conf`	Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling. ISRR Chris Bowen, Ron Alterovitz
2017	—	`conf`	Asymptotically Optimal Design of Piecewise Cylindrical Robots using Motion Planning. Robotics: Science and Systems Cenk Baykal, Ron Alterovitz
2017	C	`conf`	Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. ISRR Alan Kuntz, Chris Bowen, Ron Alterovitz
2017	A	`conf`	Motion planning for continuum reconfigurable incisionless surgical parallel robots. IROS Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz
2017	—	`conf`	Orthotropic Thin Shell Elasticity Estimation for Surface Registration. IPMI Qingyu Zhao, Stephen M. Pizer, Ron Alterovitz, Marc Niethammer, Julian G. Rosenman
2017	C	`conf`	The Economic Case for Cloud-Based Computation for Robot Motion Planning. ISRR Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
2017	J	`jnl`	Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. J. Medical Robotics Res. Philip J. Swaney, Arthur W. Mahoney, Bryan I. Hartley, Andria A. Remirez, Erik Lamers, Richard H. Feins, Ron Alterovitz, Robert J. Webster III
2016	J	`jnl`	Asymptotically Optimal Motion Planning for Tasks Using Learned Virtual Landmarks. IEEE Robotics Autom. Lett. Chris Bowen, Ron Alterovitz
2016	C	`conf`	Cloud-based Motion Plan Computation for Power-Constrained Robots. WAFR Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
2016	J	`jnl`	Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. CoRR Alan Kuntz, Chris Bowen, Ron Alterovitz
2016	J	`jnl`	Robot Planning in the Real World: Research Challenges and Opportunities. AI Mag. Ron Alterovitz, Sven Koenig, Maxim Likhachev
2016	J	`jnl`	Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertainty. IEEE Trans Autom. Sci. Eng. Wen Sun, Jur van den Berg, Ron Alterovitz
2016	—	`conf`	The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames. MICCAI (1) Qingyu Zhao, True Price, Stephen M. Pizer, Marc Niethammer, Ron Alterovitz, Julian G. Rosenman
2015	A*	`conf`	A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. ICRA Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz
2015	J	`jnl`	Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps. IEEE Trans Autom. Sci. Eng. Chris Bowen, Gu Ye, Ron Alterovitz
2015	—	`conf`	Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. ISRR (1) Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III
2015	J	`jnl`	High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning. IEEE Trans. Robotics Wen Sun, Sachin Patil, Ron Alterovitz
2015	A	`conf`	Motion planning for a three-stage multilumen transoral lung access system. IROS Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz
2015	A	`conf`	Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. IROS Cenk Baykal, Luis G. Torres, Ron Alterovitz
2015	—	`conf`	Surface Registration in the Presence of Missing Patches and Topology Change. MIUA Qingyu Zhao, James Price, Stephen M. Pizer, Marc Niethammer, Ron Alterovitz, Julian G. Rosenman
2015	A*	`conf`	Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. ICRA Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster III
2015	J	`jnl`	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. Kenneth Y. Goldberg, Siamak Faridani, Ron Alterovitz
2014	A*	`conf`	Cache-aware asymptotically-optimal sampling-based motion planning. ICRA Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz
2014	A	`conf`	Closed-loop global motion planning for reactive execution of learned tasks. IROS Chris Bowen, Ron Alterovitz
2014	J	`jnl`	Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue. Int. J. Comput. Assist. Radiol. Surg. Momen Abayazid, Gustaaf J. Vrooijink, Sachin Patil, Ron Alterovitz, Sarthak Misra
2014	C	`conf`	Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning. WAFR Jeffrey Ichnowski, Ron Alterovitz
2014	A*	`conf`	Interactive-rate motion planning for concentric tube robots. ICRA Luis G. Torres, Cenk Baykal, Ron Alterovitz
2014	A*	`conf`	Motion planning for paramagnetic microparticles under motion and sensing uncertainty. ICRA Wen Sun, Islam S. M. Khalil, Sarthak Misra, Ron Alterovitz
2014	A	`conf`	Motion planning under uncertainty for medical needle steering using optimization in belief space. IROS Wen Sun, Ron Alterovitz
2014	J	`jnl`	Needle Steering in 3-D Via Rapid Replanning. IEEE Trans. Robotics Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz
2014	J	`jnl`	Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. Int. J. Robotics Res. Gustaaf J. Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra
2014	A*	`conf`	Needle steering in biological tissue using ultrasound-based online curvature estimation. ICRA Pedro Moreira, Sachin Patil, Ron Alterovitz, Sarthak Misra
2014	J	`jnl`	Scalable Multicore Motion Planning Using Lock-Free Concurrency. IEEE Trans. Robotics Jeffrey Ichnowski, Ron Alterovitz
2014	C	`conf`	Stochastic Extended LQR: Optimization-Based Motion Planning Under Uncertainty. WAFR Wen Sun, Jur van den Berg, Ron Alterovitz
2013	A*	`conf`	Continuous shape estimation of continuum robots using X-ray images. ICRA Edgar J. Lobaton, Jinghua Fu, Luis G. Torres, Ron Alterovitz
2013	—	`conf`	Patient-specific port placement for laparoscopic surgery using atlas-based registration. Image-Guided Procedures Andinet Enquobahrie, Vikas Shivaprabhu, Stephen R. Aylward, Julien Finet, Kevin Cleary, Ron Alterovitz
2013	C	`conf`	Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision. ISRR Wen Sun, Luis G. Torres, Jur van den Berg, Ron Alterovitz
2012	A*	`conf`	Efficient Approximate Value Iteration for Continuous Gaussian POMDPs. AAAI Jur van den Berg, Sachin Patil, Ron Alterovitz
2012	A*	`conf`	Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty. ICRA Sachin Patil, Jur van den Berg, Ron Alterovitz
2012	J	`jnl`	Motion planning under uncertainty using iterative local optimization in belief space. Int. J. Robotics Res. Jur van den Berg, Sachin Patil, Ron Alterovitz
2012	A	`conf`	Parallel sampling-based motion planning with superlinear speedup. IROS Jeffrey Ichnowski, Ron Alterovitz
2012	A	`conf`	Task-oriented design of concentric tube robots using mechanics-based models. IROS Luis G. Torres, Robert J. Webster III, Ron Alterovitz
2011	C	`conf`	Demonstration-Guided Motion Planning. ISRR Gu Ye, Ron Alterovitz
2011	—	`conf`	Motion Planning Under Uncertainty In Highly Deformable Environments. Robotics: Science and Systems Sachin Patil, Jur van den Berg, Ron Alterovitz
2011	C	`conf`	Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space. ISRR Jur van den Berg, Sachin Patil, Ron Alterovitz
2011	A	`conf`	Motion planning for concentric tube robots using mechanics-based models. IROS Luis G. Torres, Ron Alterovitz
2011	A*	`conf`	Planning curvature-constrained paths to multiple goals using circle sampling. ICRA Edgar J. Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz
2011	A*	`conf`	Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning. ICRA Ron Alterovitz, Sachin Patil, Anna Derbakova
2011	J	`jnl`	Robot-Assisted Needle Steering. IEEE Robotics Autom. Mag. Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura
2011	A*	`conf`	Robust topological features for deformation invariant image matching. ICCV Edgar J. Lobaton, Ramanarayan Vasudevan, Ron Alterovitz, Ruzena Bajcsy
2010	C	`conf`	LQG-Based Planning, Sensing, and Control of Steerable Needles. WAFR Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Kenneth Y. Goldberg
2010	—	`conf`	Local Occlusion Detection under Deformations Using Topological Invariants. ECCV (3) Edgar J. Lobaton, Ramanarayan Vasudevan, Ruzena Bajcsy, Ron Alterovitz
2010	A*	`conf`	Planning active cannula configurations through tubular anatomy. ICRA Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz
2010	J	`jnl`	Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Int. J. Robotics Res. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
2010	A*	`conf`	Toward automated tissue retraction in robot-assisted surgery. ICRA Sachin Patil, Ron Alterovitz
2009	—	`conf`	Feedback control for steering needles through 3D deformable tissue using helical paths. Robotics: Science and Systems Kris K. Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison M. Okamura, Kenneth Y. Goldberg
2009	A*	`conf`	Guiding medical needles using single-point tissue manipulation. ICRA Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vincent Duindam, Kenneth Y. Goldberg
2009	J	`jnl`	Interactive simulation of surgical needle insertion and steering. ACM Trans. Graph. Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris K. Hauser, Kenneth Y. Goldberg, Jonathan Richard Shewchuk, James F. O'Brien
2009	A	`conf`	Motion planning for active cannulas. IROS Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz
2009	A	`conf`	Planning fireworks trajectories for steerable medical needles to reduce patient trauma. IROS Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Pouliot, J. Adam M. Cunha, I-Chow Hsu, Kenneth Y. Goldberg
2009	J	`jnl`	ResBoost: characterizing and predicting catalytic residues in enzymes. BMC Bioinform. Ron Alterovitz, Aaron Arvey, Sriram Sankararaman, Carolina Dallett, Yoav Freund, Kimmen Sjölander
2009	J	`jnl`	Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues. IEEE Trans. Inf. Technol. Biomed. Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, I-Chow Hsu
2009	J	`jnl`	Surgical Robotics [TC Spotlight]. IEEE Robotics Autom. Mag. Ron Alterovitz, Jaydev P. Desai
2008	C	`conf`	3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. WAFR Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
2008	—	`conf`	Actuator networks for navigating an unmonitored mobile robot. CASE Jeremy Schiff, Anand P. Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg
2008	J	`jnl`	Motion Planning Under Uncertainty for Image-guided Medical Needle Steering. Int. J. Robotics Res. Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg
2008	—	`book`	Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures Ron Alterovitz, Kenneth Y. Goldberg
2008	—	`conf`	Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining. CASE Jijie Xu, Vincent Duindam, Ron Alterovitz, Ken Goldberg
2008	A*	`conf`	Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles. ICRA Vincent Duindam, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg
2007	—	`conf`	The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty. Robotics: Science and Systems Ron Alterovitz, Thierry Siméon, Kenneth Y. Goldberg
2006	C	`conf`	Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering. WAFR Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg
2005	A*	`conf`	Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. ICRA Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura
2005	A	`conf`	Steering flexible needles under Markov motion uncertainty. IROS Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura
2003	A*	`conf`	Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. ICRA Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu
2003	A	`conf`	Sensorless planning for medical needle insertion procedures. IROS Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu