Publications
Ph.D. Thesis
- V. Kallem
Vision-Based Control on Lie groups with Application to Needle Steering.
Ph.D Thesis, Johns Hopkins University, June 2008.
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Journal Publications
- V. Kallem, M. Dewan, J. P. Swensen, G. D. Hager, and N. J. Cowan. Kernel-Based Visual Servoing: Featureless Control using Spatial Sampling Functions. International Journal of Robotics Research. Submitted.
- V. Kallem, D. E. Chang and N. J. Cowan.
Task-Induced Symmetry and Reduction with Application to Needle Steering.
IEEE Transactions on Automatic Control. In press for Publication in Feb 2010.
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- V. Kallem and N. J. Cowan.
Image Guidance of Flexible Tip-Steerable Needles.
IEEE Transactions on Robotics, 25(1):67-78, 2009.
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Refereed Conference Publications
- V. Kallem, A. T. Komoroski, and V. Kumar.
Sequential Composition for Navigating a Nonholonomic System in the Presence of Obstacles.
IEEE International Conference on Robotics and Automation (ICRA) 2010. Submitted.
- K. B. Reed, V. Kallem, R. Alterovitz, K. Goldberg, A. M. Okamura, and N. J. Cowan.
Integrated Planning and Image-Guided Control for Planar Needle Steering.
IEEE BioRob 2008.
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- V. Kallem, D. E. Chang, and
N. J. Cowan.
Task-Induced Symmetry and Reduction in Kinematic Systems with
Application to Needle Steering.
In IEEE/RSJ Intelligent Robots and Systems (IROS), San Diego, USA, 2007.
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- V. Kallem, M. Dewan,
J. P. Swensen, G. D. Hager, and N. J. Cowan. Kernel-Based Visual
Servoing. In IEEE/RSJ Intelligent Robots and Systems
(IROS), San Diego, USA, 2007.
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- V. Kallem, and
N. J. Cowan. Image-Guided Control of Flexible Bevel-Tip
Needles. In IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
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- T. Li, V. Kallem, D. Singaraju, and
R. Vidal. Projective Factorization of Multiple Rigid-Body Motions. In IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), Minneapolis, USA, 2007.
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- K. J. Waldron, and
V. Kallem. Control modes for a three-dimensional galloping
machine. Proceedings of DETC, Salt Lake City, Utah, USA, 2004.
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- A. Goswami, and V. Kallem. Rate of change of angular momentum and balance maintenance of biped robots. In IEEE International Conference on Robotics and Automation (ICRA), New Orleans, USA, 2004.
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Book Chapters
- J. P. Swensen, V. Kallem, and N. J. Cowan. Empirical Characterization of Convergence Properties for Kernel-Based Visual Servoing. In Visual Servoing via Advanced Numerical Methods, Springer.
- N. J. Cowan, A. M. Okamura, K. Goldberg, G. S. Chirikjian, R. Alterovitz, K. B. Reed, V. Kallem, G. Fichtinger, W. Park, and S. Misra. Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance. Surgical Robotics - Systems, Applications, and Visions, Springer.
Abstracts
- V. Kallem and N. J. Cowan. Estimation and Control in Needle Steering. Medical Image Computing and Computer-Assisted Intervention, 2008. (Poster)
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