Andrew Kimmel

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Many multi-agent applications may involve a notion of spatial coherence. For instance, simulations of virtual agents often need to model a coherent group or crowd. Alternatively, robots may prefer to stay within a pre-specified communication range. This paper proposes an extension of a decentralized, reactive collision avoidance framework, which defines(More)
Two hundred forty-six eyes with temporal branch retinal vein obstruction (TBRVO) were studied prospectively. Of the 85 eyes not receiving laser treatment, 35 (41%) presented with greater than or equal to 20/50 vision and 89% remained in this group; whereas, 29 eyes (34%) presented with less than or equal to 20/200 vision and only 17% improved. Of the 161(More)
Of the 256 sickle patients with hemaglobinopathies SC, SS and S-thal referred to the Wills Eye Hospital Retina Vascular Service from 1966 through 1983, 64 (50%) of the 128 males and 71 (55%) of the 128 females were less than 20 years old. Proliferative sickle retinopathy (PSR) was documented by fluorescein angiography in five of the males (8%) and two of(More)
This paper describes a software infrastructure for developing controllers and planners for robotic systems, referred here as PRACSYS. At the core of the software is the abstraction of a dynamical system, which, given a control, propagates its state forward in time. The platform simplifies the development of new controllers and planners and provides an(More)
This work proposes a method for efficiently computing manipulation paths to rearrange similar objects in a cluttered space. Rearrangement is a challenging problem as it involves combinatorially large, continuous configuration spaces due to the presence of multiple bodies and kinematically complex manipulators. This work leverages ideas from multirobot(More)
This paper describes a software infrastructure for developing and composing task and motion planners. The functionality of motion planners is well defined and they provide a basic primitive on top of which it is possible to develop planners for addressing higher level tasks. It is more challenging, however, to identify a common interface for task planners,(More)
Central retinal-artery obstruction (CRAO) is a devastating complication after retrobulbar anesthesia, a procedure which was previously recommended routinely to immobilize the eye and reduce discomfort during laser surgery. Recent developments in treatment technique, involving scatter laser applications given over several sessions with smaller spot sizes and(More)
This paper considers a game-theoretic framework for motion coordination challenges. The focus of this work is to minimize the number of interactions agents have when moving through an environment. In particular, agents employ a replanning framework and regret minimization over a set of actions, which correspond to different homotopic paths. By associating a(More)
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a particular object from a shelf blocked by similarly sized objects. These are challenging problems as they involve(More)
Forty-four patients (70 eyes, 220 sea fans) with proliferative sickle retinopathy (PSR) received peripheral circumferential retinal scatter photocoagulation (PCRP) to the peripheral zones of retinal capillary nonperfusion. With an average follow-up of 3.3 years, 33% of preexisting sea fans regressed completely, 46% regressed partially, 19% remained stable,(More)