Publications

Journal Articles

  • Submitted: S. Tully, G. Kantor, H. Choset. An Image-Guidance System for Epicardial Interventions with a Surgical Snake Robot. Submitted to the Transactions on Biomedical Engineering (TBME), February 2013.
  • Submitted: S. Tully, G. Kantor, H. Choset. Inequality Constrained Kalman Filtering for Surgical Registration. Submitted to the International Journal of Robotics Research (IJRR), February 2013.
  • P.J. Johnson, C.M. Serrano, M. Castro, R. Kuenzler, H. Choset, S. Tully, U. Duvvuri. Demonstration of Transoral Surgery in Cadaveric Specimens with the Medrobotics Flex System. Laryngoscope, Vol. 123, P:1168-1172, May 2013.
  • S. Tully, G. Kantor, H. Choset. A Unified Bayesian Framework for Global Localization and SLAM in Hybrid Metric/Topological Maps. International Journal of Robotics Research (IJRR), Vol. 31, No. 3, March 2012.
  • C.M. Rivera-Serrano, P. Johnson, B. Zubiate, R. Kuenzler, H. Choset, M.A. Zenati, S. Tully, and U. Duvvuri. A Transoral Highly Flexible Robot. The Laryngoscope, Vol. 122, Pages 1067-1071, March 2012.
  • R. Kuc, S. Tully. Estimating Reaction Time Delay in Vehicle Operation. Journal of Japan Society for Early Stage of Dementia, Vol. 1, No. 1, 2007.

    Tech Reports

  • S. Tully. BodySLAM: Localization and Mapping for Surgical Guidance.. Doctoral Dissertation No. 3524689, Carnegie Mellon University, Electrical and Computer Engineering. Proquest Dissertation ID 1034737040, September, 2012.

    Refereed Conference Proceedings

  • To Appear: D. Rollinson, H. Choset, S. Tully. Robust State Estimation with Redundant Proprioceptive Sensors. To Appear in the 2013 ASME Dynamic Systems and Control Conference (DSCC), October, 2013.
  • S. Tully, G. Kantor, H. Choset.Monocular Feature-Based Periodic Motion Estimation for Surgical Guidance. Proc. 2013 IEEE International Conference on Robotics and Automation (ICRA), May, 2013.
  • S. Tully, A. Bajo, G. Kantor, H. Choset, N. Simaan. Constrained Filtering with Contact Detection Data for the Localization and Registration of Continuum Robots in Flexible Environments. Proc. 2012 IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
  • C. Gong, S. Tully, G. Kantor, H. Choset. Multi-Agent Deterministic Graph Mapping via Robot Rendezvous.Proc. 2012 IEEE International Conference on Robotics and Automation (ICRA), May, 2012.
  • S. Tully, G. Kantor, H. Choset. Inequality Constrained Kalman Filtering for the Localization and Registration of a Surgical Robot. Proc. 2011 IEEE International Conference on Intelligent Robots and Systems (IROS), Sept, 2011.
  • S. Tully, G. Kantor, M.A. Zenati, H. Choset. Shape Estimation for Image-Guided Surgery with a Highly Articulated Snake Robot. Proc. 2011 IEEE International Conference on Intelligent Robots and Systems (IROS), Sept, 2011.
  • Y. Fu, S. Tully, G. Kantor, H. Choset. Monte Carlo Localization using 3D Texture Maps. Proc. 2011 IEEE International Conference on Intelligent Robots and Systems (IROS), Sept, 2011.
  • T. Tao, S. Tully, G. Kantor, H. Choset. Incremental Construction of the Saturated-GVG for Multi-Hypothesis Topological SLAM. Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA), May, 2011.
  • S. Tully, G. Kantor, H. Choset. A Single-Step Maximum A Posteriori Update for Bearing-Only SLAM. Proc. 2010 AAAI Conference on Artificial Intelligence, July, 2010.
  • S. Tully, G. Kantor, H. Choset, F. Werner. A Multi-Hypothesis Topological SLAM Approach for Loop Closing on Edge-Ordered Graphs. Proc. 2009 IEEE Int. Conference on Intelligent Robots and Systems (IROS), Oct, 2009.
  • F. Werner, F. Maire, J. Sitte, H. Choset, S. Tully, G. Kantor. Topological SLAM using Neighbourhood Information of Places. Proc. 2009 IEEE International Conference on Intelligent Robots and Systems (IROS), Oct, 2009.
  • S. Tully, G. Kantor, H. Choset. Leap-Frog Path Design for Multi-Robot Cooperative Localization. Proc. 2009 Field and Service Robotics, FSR 2009, Cambridge, Mass, July, 2009.
  • S. Tully, H. Moon, G. Kantor, H. Choset. Iterated Filters for Bearing-Only SLAM. Proc. 2008 IEEE International Conference on Robotics and Automation (ICRA), May, 2008.
  • H. Moon, S. Tully, G. Kantor, H. Choset. Square-Root Iterated Kalman Filter for Bearing-Only SLAM. The 4th International Conference on Ubiquitous Robots and Ambient Intelligence, 2007.
  • S. Tully, H. Moon, D. Morales, G. Kantor, H. Choset. Hybrid Localization using the Hierarchical Atlas. Proc. 2007 IEEE International Conference on Intelligent Robots and Systems (IROS), Oct, 2007.

    Abstracts, Videos, and Workshops

  • To Appear: S. Tully, A. Bajo, N. Simaan, H. Choset. A Filtering Approach for Surgical Registration with Unknown Stiffness. To Appear in the 6th Hamlyn Symposium on Medical Robotics, June, 2013.
  • A. Degani, S. Tully, B. Zubiate, H. Choset. Over-tube Apparatus for Increasing the Capabilities of an Articulated Robotic Probe. Proc. 2012 IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2012.   (Best Video Finalist)
  • S. Tully, G. Kantor, M.A. Zenati, H. Choset. Image Guidance and Semi-Autonomous Navigation for Robot Assisted Epicardial Interventions. Annual Meeting of the International Society for Minimally Invasive Cardiothoracic Surgery (ISMICS), June, 2011.
  • M. Chapman, T. Yokota, T. Ota, S. Tully, D. Schwartzman, B. Zubiate, C. Wright, H. Choset, M.A. Zenati. A Highly Articulated Robotic System (CardioARM) is Safer than a Rigid System for Intrapericardial Intervention in a Porcine Model. Workshop 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
  • C.M. Rivera-Serrano, B. Zubiate, R. Kuenzler, H. Choset, M.A. Zenati, S. Tully, U. Duvvuri. Transoral Highly Articulated Robotic Surgery (THARS) of the Larynx: A Novel Technology and Application. Annual Meeting of the American Head and Neck Society, April, 2010.
  • R. Kuc, S. Tully. Cybernetic Model for Monitoring Early Dementia From Vehicle Operation Data. Proc. 7th Annual Conf. Japan Society for Early Stage of Dementia, Sept, 2005.