Toward Certifiable Motion Planning for Medical Steerable Needles.
Mengyu FuOren SalzmanRon AlterovitzPublished in: Robotics: Science and Systems (2021)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- mobile robot
- inverse kinematics
- path planning
- robot arm
- humanoid robot
- multi robot
- robotic tasks
- autonomous mobile robot
- obstacle avoidance
- robotic arm
- mechanical systems
- medical imaging
- real time
- image guided
- collision free
- manipulation tasks
- kinematic model
- three dimensional
- vision system
- d objects
- belief space
- spatio temporal
- feature extraction