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portfolio
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publications_conference
A Curvature and Trajectory Optimization-based 3D Surface Reconstruction Pipeline for Ultrasound Trajectory Generation
Published in IEEE International Conference on Robotics and Automation (ICRA) 2023
This work introduces a Novel 3D surface reconstruction pipeline which feeds into automated ultrasound scanning trajectory generation and comprehensive evaluation score for quantifying the quality of reconstructed point clouds.
Recommended citation: A. Bal, A. Gupta, F. Abhimanyu, J. Galeotti and H. Choset, ”A Curvature and Trajectory Optimization-based 3D Surface Reconstruction Pipeline for Ultrasound Trajectory Generation,” IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023, pp. 2724-2730
Towards Automated Void Detection for Search and Rescue with 3D Perception
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
This work presents a novel approach for semi-automated ex-post-facto detection of voids in the rubble pile of the Surfside Structural Collapse at Miami.
Recommended citation: A. Bal, A. Gupta, P. Goyal, D. Merrick, R. Murphy and H. Choset, "Towards Automated Void Detection for Search and Rescue with 3D Perception," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 3290-3297
Learning Decentralized Multi-Biped Control for Payload Transport
Published in 8th Conference on Robot Learning (CoRL) 2024
This work presents a decentralized control system for scalable multi-biped robot carriers, enabling efficient payload transport using reinforcement learning.
Recommended citation: B. Pandit, A. Gupta, M. Gadde, A. Johnson, A. Shrestha, H. Duan, J. Dao and A. Fern, ”Learning Decentralized Multi-Biped Control for Payload Transport,” Proceedings of The 8th Conference on Robot Learning, Munich, Germany, 2024
publications_journal
publications_workshop
3D Deformation Simulation for Vascular Tissue with 2D Medical Imaging
Published in Workshop on Representing and Manipulating Deformable Objects at IEEE ICRA 2023
This work introduces a method to utilize 2D tomographic medical imaging for building and calibrating a simplified FEM simulation of 3D vessel structures.
Recommended citation: A. Bal, A. Gupta, C. Morales, A. Dubrawski, J. Galeotti, H. Choset, ”3D Deformation Simulation for Vascular Tissue with 2D Medical Imaging,” IEEE International Conference on Robotics and Automation Workshop on Representing and Manipulating Deformable Objects (ICRA), London, UK, 2023
research
EchoSLAM / Pipebots - Localisation using acoustic echoes
Localisation using acoustic echoes in pipe-like environments
SpiderBot - Symmetric Hexapod
Development and control of a symmetric hexapod robot
Articulated Modular Snake robots
Compound Serpenoid based locomotion gaits on modular snake robots
EigenBot - Modular leg-wheel hybrid robot
Decentralized control of a modular leg-wheel hybrid robot
Deformation modelling for Vascular tissue
Method to utilize 2D tomographic medical imaging for building and calibrating a simplified FEM simulation of 3D vessel structures
Robotic Ultrasound System
3D surface reconstruction pipeline for automated robotic ultrasound system
Void Detection with 3D Perception
Semi automated void detection pipeline for rubble pile in Search and Rescue operation
Neuroevolution learning for CPG-RBFN legged locomotion
Evolutionary learning for Central Pattern Generator and Radial Basis Function network based legged locomotion
Decentralized Multi-Biped Control
Reconfigurable and scalable reinforcement learning based decentralized Multi-Biped Control for payload transport
talks
Talk 1 on Relevant Topic in Your Field
Published:
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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