Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering

Springer Tracts in Advanced Robotics

Volumn 47, Issue , 2008, Pages 319-334

  Alterovitz, Ron ^a   Branicky, Michael ^b   Goldberg, Ken ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMIC FOUNDATIONS; CURVATURE MOTION; DISCRETIZATION; IMAGE-GUIDED; INFINITE HORIZONS; INTRA-OPERATIVE; LOOK-UP TABLE; MARKOV DECISION PROCESS; MEDICAL NEEDLE; MOTION DIRECTION; MOTION PLANNERS; NEEDLE-INSERTION; NEW CLASS; NON-HOLONOMIC; OPTIMAL CONTROL; OPTIMAL CONTROLS; PLANNING PROBLEMS; PLANNING UNDER UNCERTAINTY; RE-PLANNING; SOFT TISSUES; STATE SPACES; STEERABLE NEEDLES; TURNING POINTS;

AUTOMOBILE PARTS AND EQUIPMENT; AUTOMOBILE STEERING EQUIPMENT; DYNAMIC POSITIONING; FOUNDATIONS; IMAGE SEGMENTATION; MATHEMATICAL PROGRAMMING; MEDICAL IMAGING; MEDICAL PROBLEMS; MOTION PLANNING; NEEDLES; PERCOLATION (SOLID STATE); PLANNING; PROBABILITY; PROCESS ENGINEERING; RANDOM PROCESSES; ROBOTICS; ROBOTS; STATE SPACE METHODS; SYSTEMS ENGINEERING; TABLE LOOKUP; TARGETS; TECHNICAL PRESENTATIONS; TURNING;

PROBABILITY DISTRIBUTIONS;

EID: 53849123350     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-540-68405-3_20     Document Type: Conference Paper

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