Zobrazeno 1 - 10
of 109
pro vyhledávání: '"Kobilarov, Marin"'
Autor:
Kim, Ji Woong, Zhao, Tony Z., Schmidgall, Samuel, Deguet, Anton, Kobilarov, Marin, Finn, Chelsea, Krieger, Axel
We explore whether surgical manipulation tasks can be learned on the da Vinci robot via imitation learning. However, the da Vinci system presents unique challenges which hinder straight-forward implementation of imitation learning. Notably, its forwa
Externí odkaz:
http://arxiv.org/abs/2407.12998
Autor:
Dimmig, Cora A., Kobilarov, Marin
With the continual adoption of Uncrewed Aerial Vehicles (UAVs) across a wide-variety of application spaces, robust aerial manipulation remains a key research challenge. Aerial manipulation tasks require interacting with objects in the environment, of
Externí odkaz:
http://arxiv.org/abs/2407.00889
Autor:
Dimmig, Cora A., Silano, Giuseppe, McGuire, Kimberly, Gabellieri, Chiara, Hönig, Wolfgang, Moore, Joseph, Kobilarov, Marin
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the develo
Externí odkaz:
http://arxiv.org/abs/2311.02296
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in uncertain environ
Externí odkaz:
http://arxiv.org/abs/2310.08396
Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. This makes a global planner necessary to avoid local minima when using NMPC for navigation in comple
Externí odkaz:
http://arxiv.org/abs/2309.13171
Autor:
Dimmig, Cora A., Goodridge, Anna, Baraban, Gabriel, Zhu, Pupei, Bhowmick, Joyraj, Kobilarov, Marin
Publikováno v:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 6289-6296
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial vehicle and en
Externí odkaz:
http://arxiv.org/abs/2308.01398
We consider a micromanipulation problem in eye surgery, specifically retinal vein cannulation (RVC). RVC involves inserting a microneedle into a retinal vein for the purpose of targeted drug delivery. The procedure requires accurately guiding a needl
Externí odkaz:
http://arxiv.org/abs/2306.17421
We propose a general strategy for autonomous guidance and insertion of a needle into a retinal blood vessel. The main challenges underpinning this task are the accurate placement of the needle-tip on the target vein and a careful needle insertion man
Externí odkaz:
http://arxiv.org/abs/2306.10133
Autor:
Kim, Ji Woong, Wei, Shuwen, Zhang, Peiyao, Gehlbach, Peter, Kang, Jin U., Iordachita, Iulian, Kobilarov, Marin
Recent advancements in retinal surgery have paved the way for a modern operating room equipped with a surgical robot, a microscope, and intraoperative optical coherence tomography (iOCT)- a depth sensor widely used in retinal surgery. Integrating the
Externí odkaz:
http://arxiv.org/abs/2306.10127
Important challenges in retinal microsurgery include prolonged operating time, inadequate force feedback, and poor depth perception due to a constrained top-down view of the surgery. The introduction of robot-assisted technology could potentially dea
Externí odkaz:
http://arxiv.org/abs/2301.11839