Christopher E. Mower

I am a Research Associate for Surgical Robot Control in the Robotics and Vision in Medicine (RViM) Lab with Christos Bergeles and the Contextual Artificial Intelligence for Computer Assisted Interventions (CAI4CAI) Group with Tom Vercauteren within the School of Biomedical Engineering & Imaging Sciences at King's College London where I work on robotic surgery, human-robot collaboration, imitation learning, and shared autonomy. I collaborate on the FAROS (Functionally Accurate RObotic Surgery) EU Horizon 2020 project. My research goal is to develop practical methods that allow humans to seamlessly collaborate with and transfer human-level capabilities to robots for healthcare and assitive applications.

Previously, I was part of the Statistical Machine Learning and Motor Control (SLMC) Group within the Institute for Perception, Action and Behavior (IPAB) at the University of Edinburgh. I collaborated on the European Union Horizon 2020 HARMONY project for assitive robots in healthcare and smart factory projects in association with Kawada Industries Inc., Japan. Additionally, I am also affiliated with The Alan Turing Institute.

I obtained a PhD in Informatics from the University of Edinburgh under the supervision of Professor Sethu Vijayakumar. My PhD was funded by the Costain Group, a UK-based civil engineering firm. The PhD focused on problems in shared autonomy for robotics, motivated by the construction sector. In the past, I spent time as a numerical software developer at the Numerical Algorithms Group (NAG) where I analyzed methods for restoring an estimated and invalid correlation matrix, and authored the method, and the documentation, for G02ANF in Fortran. I hold two masters degrees: an MSc Computing (Visual Information Processing) from Imperial College London, and an MSc Applied Mathematics with Numerical Analysis from the University of Manchester. Additionally, I hold a BSc Mathematics degree from the University of Sheffield.

CV  /  Google Scholar  /  LinkedIn  /  GitHub /  Blog /  Software

Email: christopher dot mower at kcl dot ac dot uk

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News
Publications
profile photo ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction

Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Verauteren, Christos Bergeles, Sethu Vijayakumar, ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction, Proceedings of the Conference on Robot Learning (CoRL), 2022.

abstract  /  OpenReview  /  video  /  arXiv  /  code  /  documentation

profile photo Shared Autonomy for Enhancing Trajectory Optimization

Christopher E. Mower, João Moura, Theodoros Stouraitis, Sethu Vijayakumar, Shared Autonomy for Enhancing Trajectory Optimization, Proceedings of the IEEE ICRA Workshop on Shared Autonomy in Physical Human-Robot Interaction: Adaptability and Trust, 2022.

abstract  /  paper  /  talk  /  poster  /  slides  /  script  /  workshop  /  bibtex

profile photo An Optimization-based Formalism for Shared Autonomy in Dynamic Environments

Christopher E. Mower, An Optimization-based Formalism for Shared Autonomy in Dynamic Environments, PhD Thesis, The University of Edinburgh, 2022.

This PhD was funded through an iCASE studentship by Costain and EPSRC - UKRI.

Supervisor: Profesor Sethu Vijayakumar FRSE.
Examiners: Professor Nick Hawes (University of Oxford) , and Dr J. Michael Herrmann (University of Edinburgh).

abstract  /  pdf  /  bibtex

profile photo Skill-based Shared Control

Christopher E. Mower, João Moura, Sethu Vijayakumar, Skill-based Shared Control, Proceedings of Robotics: Science and Systems (R:SS), Virtual Conference, 2021.

WWH  /  abstract  /  pdf  /  poster  /  video  /  talk  /  bibtex

profile photo Modulating Human Input for Shared Autonomy in Dynamic Environments

Christopher E. Mower, João Moura, Sethu Vijayakumar, Modulating Human Input for Shared Autonomy in Dynamic Environments, 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), New Delhi, India, 2019.

abstract  /  pdf  /  bibtex

profile photo Comparing Alternate Modes of Teleoperation for Constrained Tasks

Christopher E. Mower, João Moura, Sethu Vijayakumar, Comparing Alternate Modes of Teleoperation for Constrained Tasks, IEEE 15th International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, 2019.

abstract  /  pdf  /  video  /  arXiv  /  bibtex

profile photo Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring

Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher E. Mower, Maurice Fallon, Sethu Vijayakumar, Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring, IEEE Conference on Automation Science and Engineering (CASE), Xi'an, China, 2017.

[First Prize for Greatest Potential for Positive Impact at the Robots for Resilient Infrastructure Challenge]

abstract  /  pdf  /  video  /  outreach demo  /  press (BBC)  /  press (Made In Leeds TV)  /  bibtex

Old work

The following are some old projects.

profile photo Objective Assessment for Surgical Dexterity

Christopher E. Mower, Objective Assessment for Surgical Dexterity, Masters Dissertation, Imperial College London, 2016.

Supervisor: Dr Benny Lo.

profile photo Learning Catheter Paths for Cardiac Mapping

Christopher E. Mower, Learning Catheter Paths for Cardiac Mapping, Independent Study Option, Imperial College London, 2016.

Supervisor: Dr Su-Lin Lee.

profile photo Shrinking for Restoring Definiteness

Christopher E. Mower, Shrinking for Restoring Definiteness, Masters Dissertation, The University of Manchester, 2015.

The dissertation was funded by the Numerical Algorithms Group (NAG) through an industrial bursary.

Supervisors: Professor Nicholas J. Higham FRS, and Dr Craig Lucas.

code

profile photo Numerical Software Developer Internship at the Numerical Algorithms Group (NAG)

Supervisor: Dr Craig Lucas.

As apart of an internship at NAG, I analyzed several algorithms for fixing invalid correlation matrices and implemented an optimized algorithm in FORTRAN. The code was included in the NAG Library. Furthermore, I authored the documentation and was involved with developing unit tests and example usage code.

G02ANF documentation  /  code contributor acknowledgement