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The International Journal of Robotics Research, ISSN 0278-3649, 6/2012, Volume 31, Issue 7, pp. 855 - 871
This paper is concerned with motion planning for non-linear robotic systems operating in constrained environments. A method for computing high-quality... 
motion planning | nonlinear control | importance sampling | RRT | cross-entropy | stochastic optimization | ROBOTICS | CONVERGENCE | Technology application | Sampling (Acoustical engineering) | Motion | Usage | Analysis | Mathematical optimization | Methods | Robots | Data entry | Motion planning | Algorithms | Adaptive sampling | Computation | Trajectories | Sampling | Robotics | Optimization
Journal Article
Journal of Intelligent & Robotic Systems, ISSN 0921-0296, 1/2014, Volume 73, Issue 1, pp. 679 - 692
Journal Article
Journal of Guidance, Control, and Dynamics, ISSN 0731-5090, 03/2014, Volume 37, Issue 2, pp. 566 - 579
...Trajectory Planning for CubeSat Short-Time-Scale Proximity Operations Marin Kobilarov ∗ Johns Hopkins University, Baltimore, Maryland 21218 and Sergio... 
SYSTEMS | INSTRUMENTS & INSTRUMENTATION | ALGORITHMS | GUIDANCE | ENGINEERING, AEROSPACE | AVOIDANCE | Parametrization | Proximity | Trajectory planning | Dynamics | Small satellites | Rigid-body dynamics | Sampling | Cubesat
Journal Article
International journal for computer assisted radiology and surgery, ISSN 1861-6429, 2019, Volume 14, Issue 6, pp. 945 - 954
Journal Article
IEEE Transactions on Robotics, ISSN 1552-3098, 08/2011, Volume 27, Issue 4, pp. 641 - 655
We consider the optimal control of mechanical systems on Lie groups and develop numerical methods that exploit the structure of the state space and preserve... 
underactuated systems | Optimal control | Discrete mechanics | Lie groups | Aerospace electronics | Trajectory | geometric optimization | Approximation methods | Mechanical systems | Equations | Optimization | optimal control | ROBOTICS | REDUCTION | EULER-POINCARE | EQUATIONS | SYSTEMS | INTEGRATORS | Robotics | Research | Algorithms | Numerical analysis | Dynamics | Preserves | Dynamical systems | Invariants
Journal Article
2017 IEEE SENSORS, ISSN 1930-0395, 10/2017, Volume 2017-, pp. 1 - 3
In vitreoretinal surgery instruments are inserted through the sclera to perform precise surgical maneuvers inside the eyeball, which exceeds typical human... 
fiber Bragg grating | insertion depth sensing | force sensing
Conference Proceeding
Communications in Nonlinear Science and Numerical Simulation, ISSN 1007-5704, 10/2014, Volume 19, Issue 10, pp. 3492 - 3512
•We discretize the covariant formulation of the geometrically exact beam model.•The discrete covariant principle is established on a triangular spacetime... 
Multisymplectic integrator | Variational integrator | Energy conservation | Geometrically exact beam | Discrete Noether theorem
Journal Article
ACM Transactions on Graphics (TOG), ISSN 0730-0301, 04/2009, Volume 28, Issue 2, pp. 1 - 14
...Lie Group Integrators for Animation and Control of Vehicles MARIN KOBILAROV, KEENAN CRANE, and MATHIEU DESBRUN California Institute of Technology This article... 
Physically-based animation | Lie group integrators | vehicle simulation | holomonic and nonholonomic constraints | Holomonic and nonholonomic constraints | Vehicle simulation | NONHOLONOMIC MECHANICAL SYSTEMS | COMPUTER SCIENCE, SOFTWARE ENGINEERING | Algorithms | ALGORITHM | DYNAMICS
Journal Article
2015 IEEE International Conference on Robotics and Automation (ICRA), ISSN 1050-4729, 05/2015, Volume 2015-, Issue June, pp. 4692 - 4697
This paper considers pick-and-place tasks using aerial vehicles equipped with manipulators. The main focus is on the development and experimental validation of... 
Optimal control | Manipulators | Trajectory | Joints | Standards | Vehicles | Predictive control
Conference Proceeding
Journal of Nonlinear Science, ISSN 0938-8974, 8/2012, Volume 22, Issue 4, pp. 599 - 629
Journal Article
The International journal of robotics research, ISSN 0278-3649, 06/2012, Volume 31, Issue 7, p. 855
  This paper is concerned with motion planning for non-linear robotic systems operating in constrained environments. A method for computing high-quality... 
Optimization techniques | Randomized algorithms | Entropy | Robotics
Journal Article
The International Journal of Robotics Research, ISSN 0278-3649, 1/2012, Volume 31, Issue 1, pp. 24 - 41
This article considers the optimal estimation of the state of a dynamic observable using a mobile sensor. The main goal is to compute a sensor trajectory that... 
estimation | motion planning | Aerial robotics | search and rescue robots | SPACE | ROBOTICS | SEARCH | TRACKING | FRAMEWORK | Monte Carlo method | Technology application | Sampling (Acoustical engineering) | Usage | Analysis | Sensors | Mathematical optimization | Methods | Robotics | Obstacles | Computer simulation | Searching | Dynamics | Mathematical models | Optimization | Three dimensional
Journal Article
Disaster medicine and public health preparedness, ISSN 1935-7893, 06/2015, Volume 9, Issue 3, pp. 225 - 227
Journal Article
Journal of nonlinear science, ISSN 1432-1467, 2012, Volume 23, Issue 3, pp. 393 - 426
Journal Article
2014 IEEE International Conference on Robotics and Automation (ICRA), ISSN 1050-4729, 05/2014, pp. 5523 - 5529
This paper is concerned with optimal trajectory generation for robotic multi-body systems. The focus is on discrete optimal control methods which operate... 
Vectors | Trajectory | Robot kinematics | Optimal control | Standards
Conference Proceeding
Advances in Neural Information Processing Systems, ISSN 1049-5258, 2015, Volume 2015-, pp. 3114 - 3122
Conference Proceeding
Discrete and Continuous Dynamical Systems - Series S, ISSN 1937-1632, 03/2010, Volume 3, Issue 1, pp. 61 - 84
The paper develops discretization schemes for mechanical systems for integration and optimization purposes through a discrete geometric approach. We focus on... 
Reduction | Symmetries | Variational integrators | Discrete mechanics | Nonholonomic systems | MATHEMATICS, APPLIED | discrete mechanics | reduction | symmetries | variational integrators
Journal Article
Applied mechanics and materials, ISSN 1660-9336, 02/2020, Volume 896, pp. 183 - 194
...Real Time Prediction of Sclera Force with LSTM Neural Networks in Robot-Assisted Retinal Surgery Changyan He1,a, Niravkumar Patel1,b, Marin Kobilarov1,c... 
Surgical instruments | Short term | Robotic surgery | Recurrent neural networks | Contact force | Neural networks | Alarm systems | Insertion | Surgeons | Real time | Robots | User behavior
Journal Article
2013 American Control Conference, ISSN 0743-1619, 06/2013, pp. 1044 - 1049
This paper considers trajectory tracking of vehicles modeled as underactuated rigid bodies. The goal is to obtain a simple and intuitive convergent controller... 
Backstepping | Symmetric matrices | Force | Vectors | Stability analysis | Trajectory | Vehicles
Conference Proceeding
2013 International Conference on Unmanned Aircraft Systems (ICUAS), 05/2013, pp. 958 - 965
This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics... 
Dynamics | Manipulators | Trajectory | Vehicle dynamics | Joints | Standards | Vehicles
Conference Proceeding
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