Past Projects

The central objective of the COMRADE (COoperative Multi-Robot Automated DEtection) system for humanitarian demining was to develop novel coordination techniques between multiple low-cost, autonomous, mobile robots which enable them to collaboratively detect landmines with higher accuracy in post-conflict regions.

Funding: Office of Naval Research (2009-14)

COMRADES Project Website


The objective of the InVERS (In-Vivo Endoscope Robot System) was to develop a novel in-vivo robot that can semi-autonomously perform an endoscopy of the digestive tract focusing on the colon and the lower half of the small intestine.

Funding: Nebraska Research Initiative (2014-15)

InVERS Videos Playlist


  1. H. Dehghani, C. Ross, A. Pourghodrat, C. Nelson, D. Oleynikov, P. Dasgupta and B. Terry, "Design and Preliminary Evaluation of a Self-Steering, Pneumatic-Driven Colonoscopy Robot," Journal of Medical Engineering and Technology, vol. 41, no. 3, 2017, pp. 223-236. (DOI:
  2. B. Woosley, P. Dasgupta, H. Dehghani, R. Welch, J. Baca, C. Nelson, B. Terry and D. Oleynikov, "Towards Tracking a Semi-autonomous, Pneumatic Colonoscope Robot," Latin American Conference on Autonomous Robots (LACAR), 2017. (DOI: 10.1007/978-3-319-54377-2_10)
  3. H. Dehghani, A. Pourghodrat, B. Terry, C. Nelson, D. Oleynikov, and P. Dasgupta, "Semi-Autonomous Locomotion for Diagnostic Endoscopy Device," J. Med. Devices 9(3), 030931 (Sep 01, 2015) (2 pages)Paper No: MED-15-1087; doi: 10.1115/1.4030562.
  4. A Pourghodrat, H Dehghani, CA Nelson, D Oleynikov, P Dasgupta, "Disposable Fluidic Self-Propelling Robot for Colonoscopy," J. Med. Devices 8(3), 030931 (Jul 21, 2014) (2 pages)Paper No: MED-14-1082; doi: 10.1115/1.4027076