| Motion planning under uncertainty using iterative local optimization in belief space J Van Den Berg, S Patil, R Alterovitz The International Journal of Robotics Research 31 (11), 1263-1278, 2012 | 381 | 2012 |
| Distal bevel-tip needle control device and algorithm RJ Webster III, AM Okamura, NJ Cowan, G Chirikjian, KY Goldberg, ... US Patent 7,822,458, 2010 | 319 | 2010 |
| Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles R Alterovitz, K Goldberg, A Okamura Proceedings of the 2005 IEEE international conference on robotics and …, 2005 | 317 | 2005 |
| The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty R Alterovitz, T Siméon, K Goldberg | 306 | 2008 |
| Robot-assisted needle steering KB Reed, A Majewicz, V Kallem, R Alterovitz, K Goldberg, NJ Cowan, ... IEEE robotics & automation magazine 18 (4), 35-46, 2011 | 246 | 2011 |
| Motion planning under uncertainty for image-guided medical needle steering R Alterovitz, M Branicky, K Goldberg The International Journal of Robotics Research 27 (11-12), 1361-1374, 2008 | 239 | 2008 |
| Interactive simulation of surgical needle insertion and steering N Chentanez, R Alterovitz, D Ritchie, L Cho, KK Hauser, K Goldberg, ... ACM SIGGRAPH 2009 papers, 1-10, 2009 | 218 | 2009 |
| Holding robots responsible: The elements of machine morality YE Bigman, A Waytz, R Alterovitz, K Gray Trends in cognitive sciences 23 (5), 365-368, 2019 | 192 | 2019 |
| Needle steering in 3-D via rapid replanning S Patil, J Burgner, RJ Webster, R Alterovitz IEEE Transactions on Robotics 30 (4), 853-864, 2014 | 180 | 2014 |
| Steering flexible needles under Markov motion uncertainty R Alterovitz, A Lim, K Goldberg, GS Chirikjian, AM Okamura 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2005 | 175 | 2005 |
| Needle insertion and radioactive seed implantation in human tissues: Simulation and sensitivity analysis R Alterovitz, K Goldberg, J Pouliot, R Taschereau, IC Hsu 2003 IEEE International Conference on Robotics and Automation (Cat. No …, 2003 | 167 | 2003 |
| Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images GJ Vrooijink, M Abayazid, S Patil, R Alterovitz, S Misra The International journal of robotics research 33 (10), 1361-1374, 2014 | 160 | 2014 |
| Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles V Duindam, R Alterovitz, S Sastry, K Goldberg 2008 IEEE international conference on robotics and automation, 2483-2488, 2008 | 157 | 2008 |
| Robotic needle steering: Design, modeling, planning, and image guidance NJ Cowan, K Goldberg, GS Chirikjian, G Fichtinger, R Alterovitz, KB Reed, ... Surgical Robotics: Systems Applications and Visions, 557-582, 2010 | 155 | 2010 |
| Task-oriented design of concentric tube robots using mechanics-based models LG Torres, RJ Webster, R Alterovitz 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2012 | 150 | 2012 |
| Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring random trees and backchaining J Xu, V Duindam, R Alterovitz, K Goldberg 2008 IEEE international conference on automation science and engineering, 41-46, 2008 | 148 | 2008 |
| Estimating probability of collision for safe motion planning under Gaussian motion and sensing uncertainty S Patil, J Van Den Berg, R Alterovitz 2012 IEEE International Conference on Robotics and Automation, 3238-3244, 2012 | 145 | 2012 |
| Interactive motion planning for steerable needles in 3D environments with obstacles S Patil, R Alterovitz 2010 3rd IEEE RAS & EMBS international conference on biomedical robotics and …, 2010 | 145 | 2010 |
| Demonstration-guided motion planning G Ye, R Alterovitz Robotics Research, 291-307, 2017 | 140* | 2017 |
| Simulating needle insertion and radioactive seed implantation for prostate brachytherapy R Alterovitz, J Pouliot, R Taschereau, I Joe Hsu, K Goldberg Medicine meets virtual reality 11, 19-25, 2003 | 137 | 2003 |
Ken GoldbergProfessor, UC Berkeley and UCSFVerified email at berkeley.edu
