Publications

Also see Louis Whitcomb’s Google Scholar Profile

Bohren, Jonathan, Paxton, Chris, Howarth, Ryan, Hager, Gregory, and Whitcomb, Louis. “Semi-autonomous telerobotic assembly over high-latency networks.” The Eleventh ACM/IEEE International Conference on Human Robot Interaction. (2016): 149-156.
Martin, Stephen C., and Whitcomb, Louis. “Experimental Identification of Fully-Coupled Three Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Vehicle.” Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, Lecture Notes in Control and Information Sciences. Ed. Fossen, Thor I.; Pettersen, Kristin Y.; Nijmeijer, Henk. Springer, (2016).
Harris, Zachary J., and Whitcomb, Louis. “Preliminary study of cooperative navigation of underwater vehicles without a DVL utilizing range and range-rate observations.” Robotics and Automation (ICRA), 2016 IEEE International Conference on. (2016): 2618-2624.
Barker, Laughlin D., and Whitcomb, Louis. “A preliminary survey of underwater robotic vehicle design and navigation for under-ice operations.” Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. (2016): 2028-2035.
Martin, Stephen C., and Whitcomb, Louis. “Fully actuated model-based control with six-degree-of-freedom coupled dynamical plant models for underwater vehicles: Theory and experimental evaluation.” International Journal of Robotics Research 35.10 (2016): 1164-1184.
Vozar, Steve, Chen, Zihan, Kazanzides, Peter, and Whitcomb, Louis. “Preliminary study of virtual nonholonomic constraints for time-delayed teleoperation.” Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. (2015): 4244-4250.
McFarland, Christopher J., Jakuba, Michael V., Suman, Stefano, Kinsey, James C., and Whitcomb, Louis. “Toward ice-relative navigation of underwater robotic vehicles under moving sea ice: Experimental evaluation in the Arctic sea.” Robotics and Automation (ICRA), 2015 IEEE International Conference on. (2015): 1527-1534.
Fernández-Méndez, Mar, Laney, Samuel R., Katlein, Christian, Whitcomb, Louis, Elliott, Stephen, Jakuba, Mike V., Boetius, Antje, and German, Christopher R. “Monitoring under ice phyto- and zooplankton blooms with the Nereid Under Ice remotely operated vehicle.” Gordon Research Conference on Polar Marine Science. (2015).
Spielvogel, Andrew R., and Whitcomb, Louis. “Preliminary results with a low-cost fiber-optic gyrocompass system.” OCEANS’15 MTS/IEEE Washington. (2015): 1-5.
Vozar, Steve, Leonard, Simon, Kazanzides, Peter, and Whitcomb, Louis. “Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation.” Robotics and Automation (ICRA), 2015 IEEE International Conference on. (2015): 4424-4431.
Troni, Giancarlo, and Whitcomb, Louis. “Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation.” Journal of Field Robotics 32.5 (2015): 655-674.
Harris, Zachary J., and Whitcomb, Louis. “Preliminary feasibility study of cooperative navigation of underwater vehicles with range and range-rate observations.” OCEANS’15 MTS/IEEE Washington. (2015): 1-6.
Katlein, Christian, Arndt, Stefanie, Nicolaus, Marcel, Perovich, Donald K., Jakuba, Michael V., Suman, Stefano, Elliott, Stephen, Whitcomb, Louis, McFarland, Christopher J., Gerdes, Rüdiger, and others, . “Influence of ice thickness and surface properties on light transmission through Arctic sea ice.” Journal of Geophysical Research: Oceans 120.9 (2015): 5932-5944.
Blank, Amy A., Okamura, Allison M., and Whitcomb, Louis. “Task-dependent impedance and implications for upper-limb prosthesis control.” Intl. J. Robotics Research 33.6 (2014): 827-846.
Martin, Stephen C., and Whitcomb, Louis. “Experimental Identification of Six-Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Robot Vehicles.” IEEE J. Oceanic Eng. 39.4 (2014): 662-671.
Webster, Sarah E., Walls, Jeffrey M., Whitcomb, Louis, and Eustice, Ryan M. “Decentralized Extended Information Filter for Single-Beacon Cooperative Acoustic Navigation: Theory and Experiments.” IEEE Trans. Robot. 29.4 (2013): 957-974.
Krieger, Axel, Song, Sang-Eun, Cho, Nathan B., Iordachita, Iulian, Guion, Peter, Fichtinger, Gabor, and Whitcomb, Louis. “Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention.” IEEE Trans. Biomed. Eng. 18.1 (2013): 273-284.
Xu, Helen, Lasso, Andras, Guion, Peter, Krieger, Axel, Kaushal, Aradhana, Singh, Anurag K., Pinto, Peter A., Coleman, Jonathan, Grubb, III, Robert L., Lattouf, Jean-Baptiste, Ménard, Cynthia, Whitcomb, Louis, and Fichtinger, Gabor. “Accuracy analysis in MRI-guided robotic prostate biopsy.” International Journal of Computer Assisted Radiology and Surgery 8.6 (2013): 937-944.
Song, Sang-Eun, Cho, N.B., Iordachita, Iulian, Guion, Peter, Fichtinger, Gabor, Kaushal, Aradhana, Camphausen, Kevin, and Whitcomb, Louis. “Biopsy Needle Artifact Localization in MRI-Guided Robotic Transrectal Prostate Intervention.” IEEE Trans. Biomed. Eng. 59.7 (2012): 1902-1911.
Webster, Sarah E., Eustice, Ryan M., Singh, Hanumant, and Whitcomb, Louis. L. “Advances in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles.” Intl. J. Robotics Research 31.8 (2012): 935-950.
Camilli, Richard, Di Iorio, Daniela, Bowen, Andrew, Reddy, Christopher M., Techet, Alexandra H., Yoerger, Dana R., Whitcomb, Louis, Seewald, Jeffrey S., Sylva, Sean P., and Fenwick, Judith. “Acoustic measurement of the Deepwater Horizon Macondo well flow rate.” Proceedings of the National Academy of Sciences 109.50 (2012): 20235-20239.
Eustice, Ryan M., Singh, Hanumant, and Whitcomb, Louis. “Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles.” J. Field Robotics 28.1 (2011): 121-136.
Krieger, Axel, Iordachita, Iulian, Guion, Peter, Singh, Anurag K., Kaushal, Aradhana, Ménard, Cynthia, Pinto, Peter A., Camphausen, Kevin, Fichtinger, Gabor, and Whitcomb, Louis. “An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention.” IEEE Trans. Biomed. Eng. 58.11 (2011): 3049-3060.
Kanderian, Sami S., deLateur, Barbara J., Shore, Wendy S., Rose, James G., Carson, Kathryn A., and Whitcomb, Louis. “A portable device for quantification of forearm muscle tone.” Physical Medicine and Rehabilitation 3.11 (2011): 1075-1076.
German, Christopher R., Bowen, Andrew, Coleman, Max L., Honig, Daniel, Huber, Julie A., Jakuba, M i., Kinsey, James C., Kurz, M. D., Leroy, S., McDermott, J. M., de Lépinay, B. M., Nakamura, Koichi, Seewald, Jeffrey S., Smith, J. L., Sylva, Sean P., Van Dover, Cindy, Whitcomb, Louis, and Yoerger, Dana R. “Diverse styles of submarine venting on the ultraslow spreading Mid-Cayman Rise.” Proceedings of the National Academy of Sciences 107.32 (2010): 14020-14025.
Bowen, Andrew D., Yoerger, Dana R., Taylor, Christopher, McCabe, Robert D., Howland, Jonathan C., Gomez-Ibanez, Daniel, Kinsey, James C., Heintz, Matthew, McDonald, Glenn, Peters, Donald, Young, Christopher, Buescher, James, Fletcher, Barbara, Whitcomb, Louis, Martin, Stephen C., Webster, Sarah E., and Jakuba, Michael V. “The Nereus hybrid underwater robotic vehicle.” Underwater Technology: International Journal of the Society for Underwater Technology 28.3 (2009): 79-89.
Fletcher, Barbara, Bowen, Andrew, Yoerger, Dana R., and Whitcomb, Louis. “Journey to the Challenger Deep: 50 years later with the Nereus hybrid remotely operated vehicle.” Marine Tech. Soc. Jour. 43.5 (2009): 65-76.
Kazanzides, Peter, Fichtinger, Gabor, Hager, Gregory, Okamura, Allison M., Whitcomb, Louis, and Taylor, Russell. “Surgical and Interventional Robotics: Part I: Core concepts, technology, and design.” IEEE Robot. Automat. Mag. 15.2 (2008): 122-130.
Fichtinger, Gabor, Kazanzides, Peter, Okamura, Allison M., Hager, Gregory, Whitcomb, Louis, and Taylor, Russell. “Surgical and Interventional Robotics: Part II: Surgical CAD-CAM systems.” IEEE Robot. Automat. Mag. 15.3 (2008): 94-102.
Hager, Gregory, Okamura, Allison M., Kazanzides, Peter, Whitcomb, Louis, Fichtinger, Gabor, and Taylor, Russell. “Surgical and interventional robotics: Part III: Surgical Assistance Systems.” IEEE Robot. Automat. Mag. 15.4 (2008): 84-93.
Ferrini, Vicky L., Fornari, Daniel J., Shank, Timothy M., Kinsey, James C., Soule, S. A., Carbotte, Suzanne M., Tivey, Morris A., Whitcomb, Louis, Yoerger, Dana R., and Howland, Jonathan C. Geochemisty, Geophysics, Geosystems 8. (2007).
Fichtinger, Gabor, Burdette, Everette C., Tanacs, Attila, Patriciu, Alexandru, Mazilu, Dumitru, Whitcomb, Louis, and Stoianovici, Dan. “Robotically assisted prostate brachytherapy with transrectal ultrasound guidance—Phantom experiments.” Brachytherapy 5.1 (2006): 14-26.
Susil, Robert C., Ménard, Cynthia, Krieger, Axel, Coleman, Jonathan A., Camphausen, Kevin, Choyke, Peter, Fichtinger, Gabor, Whitcomb, Louis, Coleman, C. N., and Atalar, Ergin. “Transrectal prostate biopsy and fiducial marker placement in a standard 1.5 T magnetic resonance imaging scanner.” The Journal of urology 175.1 (2006): 113-120.
Roy, Jaydeep, Rothbaum, Daniel L., and Whitcomb, Louis. “Haptic feedback enhancement through adaptive force scaling: Theory and experiment.” Advances in Robot Control: From Everyday Physics to Human-Like Movements. Ed. Kawamura, Sadao; Svinin, Mikhail. Springer-Verlag, (2006): 293-316.
Chowning, Scott L., Susil, Robert C., Krieger, Axel, Fichtinger, Gabor, Whitcomb, Louis, and Atalar, Ergin. “A preliminary analysis and model of prostate injection distributions.” The Prostate 66.4 (2006): 344-357.
Krieger, Axel, Susil, Robert C., Ménard, Cynthia, Coleman, Jonathan A., Fichtinger, Gabor, Atalar, Ergin, and Whitcomb, Louis. “Design of a novel MRI compatible manipulator for image guided prostate interventions.” IEEE Trans. Biomed. Eng. 52.2 (2005): 306-313.
Ménard, Cynthia, Susil, Robert C., Choyke, Peter, Coleman, Jonathan, Grubb, R., Gharib, Ahmed, Krieger, Axel, Guion, Peter, Thomasson, David, Ullman, Karen, Gupta, Sandeep, Espina, Virginia, Liotta, Lance, Petricoin, Emanuel, Whitcomb, Louis, Fitchtinger, Gabor, Atalar, Ergin, Coleman, C. N., and Camphausen, Kevin. “An Interventional MRI Technique for the Molecular Characterization of Intra-Prostatic Dynamic Contrast Enhancement.” Molecular Imaging 4.1 (2005): 3-66.
Martin, Stephen C., Whitcomb, Louis, Arsenault, Roland, Plumlee, Matthew, and Ware, Colin. “Advances in Real-Time Spatio-Temporal 3-D Data Visualization for Underwater Robotic Exploration.” Advances in Unmanned Marine Vehicles. Ed. Roberts, Geoff; Sutton, Robert. IEE Press, (2005): 293-310.
Roy, Jaydeep, Goldberg, Randal P., and Whitcomb, Louis. “Structural design, analysis, and performance evaluation of a new semi-direct drive robot arm: Theory and experiment.” IEEE ASME Trans. Mechatron. 9.1 (2004): 10-19.
Kinsey, James C., and Whitcomb, Louis. “Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles.” Control Engineering Practice 12.12 (2004): 1541-1549.
Smallwood, David A., and Whitcomb, Louis. “Model-Based Dynamic Positioning of Underwater Robotic Vehicles: Theory and Experiment.” IEEE J. Oceanic Eng. 29.1 (2004): 169-186.
Bowen, Andrew D., Yoerger, Dana R., Whitcomb, Louis, and Fornari, Daniel J. “Exploring the Deepest Depths: Preliminary Design of a Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments.” Marine Tech. Soc. Jour. 38.2 (2004): 92-101.
Susil, Robert C., Krieger, Axel, Derbyshire, J. A., Tanacs, Attila, Whitcomb, Louis, Fichtinger, Gabor, and Atalar, Ergin. “System for MR Image–guided Prostate Interventions: Canine Study 1.” Radiology 228.3 (2003): 886-894.
Rothbaum, Daniel L., Roy, Jaydeep, Hager, Gregory, Taylor, Russell, Whitcomb, Louis, Francis, Howard W., and Niparko, John K. “Task performance in stapedotomy: Comparison between surgeons of different experience levels.” Otolaryngology–Head and Neck Surgery 128.1 (2003): 71-77.
Susil, Robert C., Krieger, Axel, Tanacs, Atila, Whitcomb, Louis, and Atalar, Ergin. “Prostate biopsy and local therapy inside conventional closed MRI with robotic assistance-animal studies.” Academic Radiology 10.8 (2003): 955.
Bachmayer, Ralf, and Whitcomb, Louis. “Adaptive parameter identification of an accurate nonlinear dynamical model for marine thrusters.” ASME Journal of Dynamic Systems, Measurement, and Control 125.3 (2003): 491-494.
Berkelman, Peter J., Whitcomb, Louis, Taylor, Russell, and Jensen, Patrick. “A miniature microsurgical instrument tip force sensor for enhanced force feedback during robot-assisted manipulation.” IEEE Trans. Robot. Autom. 19.5 (2003): 917-921.
Smallwood, David A., and Whitcomb, Louis. “Adaptive identification of dynamically positioned underwater robotic vehicles.” IEEE Trans. Contr. Syst. Technol. 11.4 (2003): 505-515.
Roy, Jaydeep, and Whitcomb, Louis. “Adaptive force control of position/velocity controlled robots: Theory and Experiment.” IEEE Trans. Robot. Autom. 17.2 (2002).
Rothbaum, Daniel L., Roy, Jaydeep, Stoianovici, Dan, Berkelman, Peter, Hager, Gregory, Taylor, Russell, Whitcomb, Louis, Francis, Howard W., and Niparko, John K. “Robot-assisted stapedotomy: Micropick fenestration of the stapes footplate.” Otolaryngology–Head and Neck Surgery 127.5 (2002): 417-426.
Ballard, Robert D., Stager, Lawrence E., Master, Daniel, Yoerger, Dana R., Mindell, David, Whitcomb, Louis, Singh, Hanumant, and Piechota, Dennis. “Iron Age Shipwrecks in Deep Water off Ashkelon, Israel.” American Journal of Archaeology: The Journal of the Archaeological Institute of America 106.2 (2002): 151-168.
Singh, Hanumant, Whitcomb, Louis, Yoergar, Dana, and Pizarro, Oscar. “Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean.” Computer Vision and Image Understanding 79.1 (2000): 143-161.
Ballard, Robert D., McCann, Anna M., Yoerger, Dana R., Whitcomb, Louis, Mindell, David A., Oleson, John, Singh, Hanumant, Foley, Brendan, Adams, Jonathan, and Picheota, Dennis. “The discovery of ancient history in the deep sea using advanced deep submergence technology.” Deep Sea Research Part 1 47.9 (2000): 1591-1620.
Bachmayer, Ralf, Whitcomb, Louis, and Grosenbaugh, Mark A. “Accurate four-quadrant nonlinear dynamical model for marine thrusters: Theory and experimental validation.” IEEE J. Oceanic Eng. 25.1 (2000): 146-159.
Roy, Jaydeep, and Whitcomb, Louis. “Comparative structural analysis of 2-DOF semi-direct-drive linkages for robot arms.” IEEE ASME Trans. Mechatron. 4.1 (1999): 82-86.
Whitcomb, Louis, and Yoerger, Dana R. “Preliminary Experiments in Model-Based Thruster Control for Underwater Vehicle Positioning.” IEEE J. Oceanic Eng. 24.4 (1999): 494-506.
Taylor, Russell, Jensen, Pat, Whitcomb, Louis, Barnes, Aaron, Kumar, Rajesh, Stoianovici, Dan, Gupta, Puneet, Wang, ZhengXian, Dejuan, Eugene, and Kavoussi, Louis. “A steady-hand robotic system for microsurgical augmentation.” Intl. J. Robotics Research 18.12 (1999): 1201-1210.
Whitcomb, Louis, and Yoerger, Dana R. “Development, Comparison, and Preliminary Experimental Validation of Non-Linear Dynamic Thruster Models.” IEEE J. Oceanic Eng. 24.4 (1999): 481-494.
Sayers, Craig P., Paul, Richard P., Catipovic, Josko, Whitcomb, Louis, and Yoerger, Dana. “Teleprogramming for Subsea Teleoperation using Acoustic Communication.” IEEE J. Oceanic Eng. 23.1 (1998): 60-71.
Bachmayer, Ralf, Humphris, Susan, Fornari, Daniel, Van Dover, Cindy, Howland, Jonathan, Bowen, Andrew, Elder, Robert, Crook, Thomas, Gleason, Denzel, Sellers, William, and Lerner, Steven. Marine Tech. Soc. Jour. 32.3 (1998): 37-47.
Nakamura, Masahiko, Bachmayer, Ralf, Whitcomb, Louis, and Grosenbaugh, Mark. “Control of Marine Thruster.” Trans. of the West-Japan Soc. of Naval Arch. 96. (1998): 93-109.
Whitcomb, Louis, Arimoto, Suguru, Naniwa, Tomohide, and Ozaki, Fumio. “Adaptive Model-Based Hybrid Control of Geometrically Constrained Robot Arms.” IEEE Trans. Robot. Autom. 13.1 (1997): 105-116.
Whitcomb, Louis, Arimoto, Suguru, Naniwa, Tomohide, and Ozaki, Fumio. “Experiments in Adaptive Model-Based Robot Force Control.” IEEE Control Syst. Mag. 16.1 (1996): 49-57.
Naniwa, Tomohide, Arimoto, Suguru, Whitcomb, Louis, and Liu, Yun-Hui. “Model-Based Adaptive Control for Geometrically Constrained Manipulators.” Trans. of the Soc. of Inst. and Cont. Eng. 31.1 (1995): 22-30.
Whitcomb, Louis, Rizzi, Alfred A., and Koditschek, Daniel E. “Comparative experiments with a new adaptive controller for robot arms.” IEEE Trans. Robot. Autom. 9.1 (1993): 59-70.
Rizzi, Alfred A., Whitcomb, Louis, and Koditschek, D. E. “Distributed Real-Time Control of a Spatial Robot Juggler.” IEEE Computer 25.5 (1992): 12-24.
Levin, Forrest, Bühler, Martin, Whitcomb, Louis, and Koditschek, Daniel E. “Transputer Computer Juggles Real-Time Robotics.” Elec. Sys. Design 19.2 (1989): 77-82.