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IJRR
2008
101views more  IJRR 2008»
11 years 1 months ago
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible beveltip medica...
Ron Alterovitz, Michael S. Branicky, Kenneth Y. Go...
RSS
2007
136views Robotics» more  RSS 2007»
11 years 3 months ago
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty
— We present a new motion planning framework that explicitly considers uncertainty in robot motion to maximize the probability of avoiding collisions and successfully reaching a ...
Ron Alterovitz, Thierry Siméon, Kenneth Y. ...
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