Sachin Patil I am a postdoctoral researcher in the research groups of Prof. Pieter Abbeel and Prof. Ken Goldberg at the University of California, Berkeley. Previously, I was pursuing a Ph.D. under the supervision of Prof. Ron Alterovitz in the Computational Robotics Group at the University of North Carolina at Chapel Hill. Email: sachinpatil [at] berkeley.edu; sachin [at] cs.unc.edu Curriculum Vitae: [pdf]

PUBLICATIONS Journals Needle Steering in 3D via Rapid Replanning Sachin Patil, Jessica Burgner, Robert J. Webster III, Ron Alterovitz IEEE Trans. on Robotics - T-RO. [In Review]   Motion Planning under Uncertainty using Iterative Local Optimization in Belief Space Jur van den Berg, Sachin Patil, Ron Alterovitz Int. Journal Robotics Research - IJRR, vol. 31(11), pp. 1263-1278, 2012. [pdf]   Directing Crowd Simulations Using Navigation Fields Sachin Patil, Jur van den Berg, Sean Curtis, Ming Lin, Dinesh Manocha IEEE Trans. on Visualization and Computer Graphics - TVCG, vol. 17(2), pp. 244-254, 2011. [pdf]   Conference Proceedings Efficient Approximate Value Iteration for Continuous Gaussian POMDPs Jur van den Berg, Sachin Patil, Ron Alterovitz Proc. AAAI Conference on Artificial Intelligence - AAAI, 2012. [pdf]   Estimating Probability of Collision for Safe Planning under Gaussian Motion and Sensing Uncertainty Sachin Patil, Jur van den Berg, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2012. [pdf]   Motion Planning Under Uncertainty Using Differential Dynamic Programming in Belief Space Jur van den Berg, Sachin Patil, Ron Alterovitz Proc. Int. Symposium of Robotics Research - ISRR, 2011. [pdf]   Motion Planning Under Uncertainty in Highly Deformable Environments Sachin Patil, Jur van den Berg, Ron Alterovitz Proc. Robotics: Science and Systems - RSS, 2011. [pdf]   Planning Curvature-Constrained Paths to Multiple Goals Using Circle Sampling Edgar Lobaton, Jinghe Zhang, Sachin Patil, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2011. [pdf]   Rapidly-Exploring Roadmaps: Weighing Exploration vs. Refinement in Optimal Motion Planning Ron Alterovitz, Sachin Patil, Anna Derbakova Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2011. [pdf]   LQG-Based Planning, Sensing, and Control of Steerable Needles Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg Proc. Workshop on Algorithmic Foundation of Robotics - WAFR, 2010. [pdf]   Interactive Motion Planning for Steerable Needles in 3D Environments with Obstacles Sachin Patil, Ron Alterovitz Proc. IEEE RAS and EMBS Int. Conf. on Biomedical Robotics and Biomechatronics - BioRob, 2010. [pdf]   Toward Automated Tissue Retraction in Robot-Assisted Surgery Sachin Patil, Ron Alterovitz Proc. IEEE Int. Conf. on Robotics and Automation - ICRA, 2010. [pdf]   Composite Agents Hengchin Yeh, Sean Curtis, Sachin Patil, Jur van den Berg, Dinesh Manocha, Ming Lin Proc. Symposium on Computer Animation - SCA, 2008. [pdf]   Interactive Navigation of Individual Agents in Crowded Environments Jur van den Berg, Sachin Patil, Jason Sewall, Dinesh Manocha, Ming Lin Proc. Symposium on Interactive 3D Graphics and Games - I3D, 2008. [pdf]   Workshops, Survey Papers, and Posters Three-Dimensional Flexible Needle Steering using Two-Dimensional Ultrasound Images Guus Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra 4th Dutch Bio-Medical Engineering Conference - BME, 2013. [To Appear]   Three-Dimensional Flexible Needle Path Planning and Steering using Fiber Bragg Grating Sensors Momen Abayazid, Marco Kemp, Sachin Patil, Ron Alterovitz, Sarthak Misra 4th Dutch Bio-Medical Engineering Conference - BME, 2013. [To Appear]   Integrating Motion Planning and Control of Steerable Needles: Real-time Replanning vs. Deformation-aware LQG Control Sachin Patil, Ron Alterovitz IEEE ICRA 2012 Needle Steering Workshop - Pathways to Clinical Needle Steering: Recent Advances and Future Applications, 2012. [pdf] Motion Planning Under Uncertainty for Steerable Needles Sachin Patil, Ron Alterovitz, Jur van den Berg, Kris Hauser, Vincent Duindam, Gregory S. Chirikjian, Noah J. Cowan, Allison Okamura, Ken Goldberg IEEE IROS 2011 Demonstrations - A Robotic System for Needle Steering, 2011. [pdf] Interactive Modeling, Simulation and Control of Large-Scale Crowds and Traffic Ming Lin, Stephen J. Guy, Rahul Narain, Jason Sewall, Sachin Patil, Jatin Chhugani, Abhinav Golas, Jur van den Berg, Sean Curtis, David Wilkie, Paul Merrell, Changkyu Kim, Nadathur Satish, Pradeep Dubey, Dinesh Manocha Proc. Motion in Games - MiG, 2009. [pdf]   Real-Time Path Planning for Multi-Agent and Crowd Simulation Ming Lin, Avneesh Sud, Jur van den Berg, Russell Gayle, Sean Curtis, Hengchin Yeh, Stephen J. Guy, Eric Andersen, Sachin Patil, Jason Sewall, Dinesh Manocha Proc. Motion in Games - MiG, 2008. [pdf]