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.