| 2025 | ICRA | On the Necessity of Real-Time Principles in GPU-Driven Autonomous Robots. | Syed W. Ali, Angelos Angelopoulos, Denver Massey, Sarah Haddix, Alexander Georgiev, Joseph Goh, Rohan Wagle, Prakash Sarathy, James H. Anderson, Ron Alterovitz |
| 2025 | ICRA | The Experiment Orchestration System (EOS): Comprehensive Foundation for Laboratory Automation. | Angelos Angelopoulos, Cem Baykal, Jade Kandel, Matthew Verber, James Cahoon, Ron Alterovitz |
| 2025 | ICRA | A System for Endoscopic Submucosal Dissection Featuring Concentric Push-Pull Manipulators. | Peter Connor, Carter Hatch, Khoa T. Dang, Tony Qin, Ron Alterovitz, Caleb Rucker, Robert J. Webster III |
| 2025 | ICRA | Resolution Optimal Motion Planning for Medical Needle Steering from Airway Walls in the Lung. | Janine Hoelscher, Inbar Fried, Oren Salzman, Ron Alterovitz |
| 2024 | SIGCSE | Incorporating Retakes in a Robotics Class with Labs. | Janine Hoelscher, Bryce Ikeda, Daniel Szafir, Ron Alterovitz |
| 2023 | IROS | High-Accuracy Injection Using a Mobile Manipulation Robot for Chemistry Lab Automation. | Angelos Angelopoulos, Matthew Verber, Collin McKinney, James Cahoon, Ron Alterovitz |
| 2023 | IROS | Landmark Based Bronchoscope Localization for Needle Insertion Under Respiratory Deformation. | Inbar Fried, Janine Hoelscher, Jason A. Akulian, Stephen M. Pizer, Ron Alterovitz |
| 2022 | ICRA | Resolution-Optimal Motion Planning for Steerable Needles. | Mengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz |
| 2022 | IROS | A Metric for Finding Robust Start Positions for Medical Steerable Needle Automation. | Janine Hoelscher, Inbar Fried, Mengyu Fu, Mihir Patwardhan, Max Christman, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz |
| 2021 | ICRA | Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. | 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 | ICRA | Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search. | Mengyu Fu, Oren Salzman, Ron Alterovitz |
| 2020 | ICRA | Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. | Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz |
| 2020 | ICRA | Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. | Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg |
| 2019 | ICRA | Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs. | Jeffrey Ichnowski, Ron Alterovitz |
| 2019 | IROS | Multilevel Incremental Roadmap Spanners for Reactive Motion Planning. | Jeffrey Ichnowski, Ron Alterovitz |
| 2019 | IROS | Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. | Alan Kuntz, Mengyu Fu, Ron Alterovitz |
| 2019 | IROS | optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. | Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa |
| 2019 | SENSYS | Non-Line-of-Sight Around the Corner Human Presence Detection Using Commodity WiFi Devices. | Shiwei Fang, Ron Alterovitz, Shahriar Nirjon |
| 2018 | ICRA | Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. | Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz |
| 2018 | IROS | Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. | Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz |
| 2018 | WAFR | Probability-Weighted Temporal Registration for Improving Robot Motion Planning and Control Learned from Demonstrations. | Chris Bowen, Ron Alterovitz |
| 2018 | WAFR | Concurrent Nearest-Neighbor Searching for Parallel Sampling-Based Motion Planning in SO(3), SE(3), and Euclidean Spaces. | Jeffrey Ichnowski, Ron Alterovitz |
| 2017 | IROS | Motion planning for continuum reconfigurable incisionless surgical parallel robots. | Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz |
| 2017 | ISRR | Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling. | Chris Bowen, Ron Alterovitz |
| 2017 | ISRR | The Economic Case for Cloud-Based Computation for Robot Motion Planning. | Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz |
| 2017 | ISRR | Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. | Alan Kuntz, Chris Bowen, Ron Alterovitz |
| 2016 | MICCAI | The Endoscopogram: A 3D Model Reconstructed from Endoscopic Video Frames. | Qingyu Zhao, True Price, Stephen M. Pizer, Marc Niethammer, Ron Alterovitz, Julian G. Rosenman |
| 2016 | WAFR | Cloud-based Motion Plan Computation for Power-Constrained Robots. | Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz |
| 2015 | IROS | Optimizing design parameters for sets of concentric tube robots using sampling-based motion planning. | Cenk Baykal, Luis G. Torres, Ron Alterovitz |
| 2015 | IROS | Motion planning for a three-stage multilumen transoral lung access system. | Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz |
| 2015 | ICRA | Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. | Philip J. Swaney, Arthur W. Mahoney, Andria A. Remirez, Erik Lamers, Bryan I. Hartley, Richard H. Feins, Ron Alterovitz, Robert J. Webster III |
| 2015 | ICRA | A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. | Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz |
| 2015 | ISRR | Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots. | Arthur W. Mahoney, Trevor L. Bruns, Ron Alterovitz, Robert J. Webster III |
| 2014 | ICRA | Cache-aware asymptotically-optimal sampling-based motion planning. | Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz |
| 2014 | ICRA | Needle steering in biological tissue using ultrasound-based online curvature estimation. | Pedro Moreira, Sachin Patil, Ron Alterovitz, Sarthak Misra |
| 2014 | IROS | Closed-loop global motion planning for reactive execution of learned tasks. | Chris Bowen, Ron Alterovitz |
| 2014 | IROS | Motion planning under uncertainty for medical needle steering using optimization in belief space. | Wen Sun, Ron Alterovitz |
| 2014 | ICRA | Motion planning for paramagnetic microparticles under motion and sensing uncertainty. | Wen Sun, Islam S. M. Khalil, Sarthak Misra, Ron Alterovitz |
| 2014 | ICRA | Interactive-rate motion planning for concentric tube robots. | Luis G. Torres, Cenk Baykal, Ron Alterovitz |
| 2014 | WAFR | Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning. | Jeffrey Ichnowski, Ron Alterovitz |
| 2014 | WAFR | Stochastic Extended LQR: Optimization-Based Motion Planning Under Uncertainty. | Wen Sun, Jur van den Berg, Ron Alterovitz |
| 2013 | ICRA | Continuous shape estimation of continuum robots using X-ray images. | Edgar J. Lobaton, Jinghua Fu, Luis G. Torres, Ron Alterovitz |
| 2013 | ISRR | Safe Motion Planning for Imprecise Robotic Manipulators by Minimizing Probability of Collision. | Wen Sun, Luis G. Torres, Jur van den Berg, Ron Alterovitz |
| 2012 | AAAI | Efficient Approximate Value Iteration for Continuous Gaussian POMDPs. | Jur van den Berg, Sachin Patil, Ron Alterovitz |
| 2012 | ICRA | Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty. | Sachin Patil, Jur van den Berg, Ron Alterovitz |
| 2012 | IROS | Parallel sampling-based motion planning with superlinear speedup. | Jeffrey Ichnowski, Ron Alterovitz |
| 2012 | IROS | Task-oriented design of concentric tube robots using mechanics-based models. | Luis G. Torres, Robert J. Webster III, Ron Alterovitz |
| 2011 | ICCV | Robust topological features for deformation invariant image matching. | Edgar J. Lobaton, Ramanarayan Vasudevan, Ron Alterovitz, Ruzena Bajcsy |
| 2011 | ICRA | Rapidly-exploring roadmaps: Weighing exploration vs. refinement in optimal motion planning. | Ron Alterovitz, Sachin Patil, Anna Derbakova |
| 2011 | ICRA | Planning curvature-constrained paths to multiple goals using circle sampling. | Edgar J. Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz |
| 2011 | IROS | Motion planning for concentric tube robots using mechanics-based models. | Luis G. Torres, Ron Alterovitz |
| 2011 | ISRR | Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space. | Jur van den Berg, Sachin Patil, Ron Alterovitz |
| 2011 | ISRR | Demonstration-Guided Motion Planning. | Gu Ye, Ron Alterovitz |
| 2010 | ECCV | Local Occlusion Detection under Deformations Using Topological Invariants. | Edgar J. Lobaton, Ramanarayan Vasudevan, Ruzena Bajcsy, Ron Alterovitz |
| 2010 | ICRA | Planning active cannula configurations through tubular anatomy. | Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz |
| 2010 | ICRA | Toward automated tissue retraction in robot-assisted surgery. | Sachin Patil, Ron Alterovitz |
| 2010 | WAFR | LQG-Based Planning, Sensing, and Control of Steerable Needles. | Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Kenneth Y. Goldberg |
| 2009 | IROS | Motion planning for active cannulas. | Lisa A. Lyons, Robert J. Webster III, Ron Alterovitz |
| 2009 | IROS | Planning fireworks trajectories for steerable medical needles to reduce patient trauma. | Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Pouliot, J. Adam M. Cunha, I-Chow Hsu, Kenneth Y. Goldberg |
| 2009 | ICRA | Guiding medical needles using single-point tissue manipulation. | Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vincent Duindam, Kenneth Y. Goldberg |
| 2008 | ICRA | Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles. | Vincent Duindam, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg |
| 2008 | WAFR | 3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. | Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg |
| 2006 | WAFR | Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering. | Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg |
| 2005 | ICRA | Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. | Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura |
| 2005 | IROS | Steering flexible needles under Markov motion uncertainty. | Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura |
| 2003 | ICRA | Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. | Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu |
| 2003 | IROS | Sensorless planning for medical needle insertion procedures. | Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu |