Carnegie Mellon University
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Stephen T. Tully
Postdoctoral Fellow, RI
No longer a member of RI.
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Research Interests

My research interest is in the development of novel probabilistic filtering algorithms for robot localization and mapping, especially in the context of highly articulated surgical robots navigating within the body. My work extends localization and mapping to take into account environment deformation, physiological motion, and workspace constraints. My long term research plan is to provide situational awareness to complex robotic systems through the use of novel probabilistic techniques that leverage machine learning, numerical optimization, and environment modeling. I am also interested in the control of robotic systems with a goal of reducing uncertainty through active perception.

Research Interest Keywords
medical roboticsmobile robotssensor fusion