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08/02/2023
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry
This paper introduces a novel, small form-factor, aerial vehicle researc...
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06/30/2023
Micromanipulation in Surgery: Autonomous Needle Insertion Inside the Eye for Targeted Drug Delivery
We consider a micromanipulation problem in eye surgery, specifically ret...
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06/16/2023
Deep Learning Guided Autonomous Surgery: Guiding Small Needles into Sub-Millimeter Scale Blood Vessels
We propose a general strategy for autonomous guidance and insertion of a...
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06/16/2023
Deep Learning Guided Autonomous Retinal Surgery using a Robotic Arm, Microscopy, and iOCT Imaging
Recent technological advancements in retinal surgery has led to the mode...
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01/27/2023
Autonomous Needle Navigation in Retinal Microsurgery: Evaluation in ex vivo Porcine Eyes
Important challenges in retinal microsurgery include prolonged operating...
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10/14/2022
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC)
Approaches for stochastic nonlinear model predictive control (SNMPC) typ...
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03/30/2022
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance
Motion planning methods for autonomous systems based on nonlinear progra...
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10/15/2021
Learn Proportional Derivative Controllable Latent Space from Pixels
Recent advances in latent space dynamics model from pixels show promisin...
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11/16/2020
Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration
A fundamental challenge in retinal surgery is safely navigating a surgic...
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11/16/2020
Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control
During retinal microsurgery, precise manipulation of the delicate retina...
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01/10/2019