{"id":"https://openalex.org/W2036754385","doi":"https://doi.org/10.1017/s0263574712000100","title":"Algorithms for autonomous exploration and estimation in compliant environments","display_name":"Algorithms for autonomous exploration and estimation in compliant environments","publication_year":2012,"publication_date":"2012-03-28","ids":{"openalex":"https://openalex.org/W2036754385","doi":"https://doi.org/10.1017/s0263574712000100","mag":"2036754385"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000100","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000100","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006408200","display_name":"Roger E. Goldman","orcid":"https://orcid.org/0000-0003-0394-3744"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. E. Goldman","raw_affiliation_strings":["Columbia University"],"affiliations":[{"raw_affiliation_string":"Columbia University","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035043678","display_name":"Andrea Bajo","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Bajo","raw_affiliation_strings":["Vanderbilt University"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007822020","display_name":"Nabil Simaan","orcid":"https://orcid.org/0000-0002-6125-3891"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Simaan","raw_affiliation_strings":["Vanderbilt University"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006408200"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":2.017,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.85646233,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"31","issue":"1","first_page":"71","last_page":"87"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5381470918655396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143524408340454},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.45422178506851196},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4381202459335327},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4258178770542145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4232897162437439},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38899263739585876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3732408881187439},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36492496728897095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20443275570869446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18988671898841858}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5381470918655396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143524408340454},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.45422178506851196},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4381202459335327},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4258178770542145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4232897162437439},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38899263739585876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3732408881187439},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36492496728897095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20443275570869446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18988671898841858},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000100","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000100","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W33475210","https://openalex.org/W178056938","https://openalex.org/W774034202","https://openalex.org/W1509235676","https://openalex.org/W1510918013","https://openalex.org/W1513408118","https://openalex.org/W1528748531","https://openalex.org/W1530239534","https://openalex.org/W1560270123","https://openalex.org/W1569805161","https://openalex.org/W1576983058","https://openalex.org/W1601864594","https://openalex.org/W1602197575","https://openalex.org/W1893902493","https://openalex.org/W1917485949","https://openalex.org/W1965324089","https://openalex.org/W1973783050","https://openalex.org/W1984383815","https://openalex.org/W1993229253","https://openalex.org/W1996926214","https://openalex.org/W2007924064","https://openalex.org/W2021521834","https://openalex.org/W2029252137","https://openalex.org/W2046013538","https://openalex.org/W2048650656","https://openalex.org/W2070927739","https://openalex.org/W2073855228","https://openalex.org/W2078528918","https://openalex.org/W2079456467","https://openalex.org/W2086378501","https://openalex.org/W2095714930","https://openalex.org/W2107949070","https://openalex.org/W2110805495","https://openalex.org/W2111010907","https://openalex.org/W2111551460","https://openalex.org/W2112474089","https://openalex.org/W2114571147","https://openalex.org/W2120214714","https://openalex.org/W2122748217","https://openalex.org/W2126597475","https://openalex.org/W2137907155","https://openalex.org/W2142036820","https://openalex.org/W2144787674","https://openalex.org/W2147462102","https://openalex.org/W2151321259","https://openalex.org/W2153136299","https://openalex.org/W2154491775","https://openalex.org/W2163026678","https://openalex.org/W2168617405","https://openalex.org/W2169440744","https://openalex.org/W2170545573","https://openalex.org/W2180140657","https://openalex.org/W2181005280","https://openalex.org/W2318164038","https://openalex.org/W2623660146","https://openalex.org/W3150997492","https://openalex.org/W4205490020","https://openalex.org/W4246556827","https://openalex.org/W6631869921","https://openalex.org/W6633943406","https://openalex.org/W6640210602"],"related_works":["https://openalex.org/W2352472571","https://openalex.org/W1020620338","https://openalex.org/W585100505","https://openalex.org/W1982160337","https://openalex.org/W1993699589","https://openalex.org/W1971380437","https://openalex.org/W1996592923","https://openalex.org/W2039329986","https://openalex.org/W1983548084","https://openalex.org/W2160609742"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,20],"investigates":[3],"algorithms":[4,276],"for":[5,23,33,64,73,277],"enabling":[6,278],"surgical":[7,17,128,280,288],"slave":[8],"robots":[9],"to":[10,56,172,181,204,248],"autonomously":[11,34],"explore":[12],"shape":[13,25,58,140,147,168],"and":[14,26,31,49,69,107,191,223,263],"stiffness":[15,244],"of":[16,29,66,75,92,112,132,138,149,207,214,232,240,261,274,283,286],"fields.":[18],"The":[19,130],"addresses":[21],"methods":[22,32],"estimating":[24],"impedance":[27,37,83,177],"parameters":[28],"tissue":[30,43,93,106,243,252],"exploring":[35],"perceived":[36],"during":[38],"tool":[39],"interaction":[40],"inside":[41],"a":[42,50,70,150,251,255],"cleft.":[44],"A":[45],"hybrid":[46],"force-motion":[47],"controller":[48],"cycloidal":[51],"motion":[52,247],"path":[53],"are":[54,78,87],"proposed":[55],"address":[57],"exploration.":[59],"An":[60],"adaptive":[61,196],"exploration":[62,74,178,213],"algorithm":[63,72,198,257],"segmentation":[65],"surface":[67,109],"features":[68,77,216],"predictor-corrector":[71,256],"deep":[76,215],"introduced":[79],"based":[80,235],"on":[81,135,186,236],"discrete":[82],"estimates.":[84],"These":[85],"estimates":[86,231],"derived":[88],"from":[89],"localized":[90],"excitation":[91],"coupled":[94],"with":[95,117,122,154,254],"simultaneous":[96],"force":[97,118],"measurements.":[98],"Shape":[99],"estimation":[100,110,169],"is":[101,142,160,179,217,228],"validated":[102,180],"in":[103,125,219],"ex-vivo":[104,224],"bovine":[105,225],"attains":[108],"errors":[111],"less":[113],"than":[114],"2.5":[115],"mm":[116],"sensing":[119],"resolutions":[120],"achievable":[121],"current":[123],"technologies":[124],"minimally":[126],"invasive":[127],"robots.":[129],"effect":[131],"scan":[133,153,157],"patterns":[134],"the":[136,139,146,163,167,195,205,208,272],"accuracy":[137],"estimate":[141,148],"demonstrated":[143,218],"by":[144],"comparing":[145],"Cartesian":[151],"raster":[152],"overlapping":[155],"cycloid":[156],"pattern.":[158],"It":[159,227],"shown":[161,229],"that":[162,194,230,268],"latter":[164],"pattern":[165],"filters":[166],"bias":[170],"due":[171],"frictional":[173],"drag":[174],"forces.":[175],"Surface":[176],"successfully":[182],"segment":[183],"compliant":[184],"environments":[185],"flexible":[187],"inorganic":[188,221],"models.":[189],"Simulations":[190],"experiments":[192],"show":[193],"search":[197],"reduces":[199],"overall":[200],"time":[201],"requirements":[202],"relative":[203],"complexity":[206],"underlying":[209],"structures.":[210],"Finally,":[211],"autonomous":[212,284],"an":[220],"model":[222],"tissue.":[226],"least":[233],"constraint":[234],"singular":[237],"value":[238],"decomposition":[239],"locally":[241],"estimated":[242],"can":[245],"generate":[246],"accurately":[249],"follow":[250],"cleft":[253],"employing":[258],"alternating":[259],"steps":[260],"position":[262],"admittance":[264],"control.":[265],"We":[266],"believe":[267],"these":[269,275],"results":[270],"demonstrate":[271],"potential":[273],"\u201csmart\u201d":[279],"devices":[281],"capable":[282],"execution":[285],"intraoperative":[287],"plans.":[289]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}