Motion planning under uncertainty for medical needle steering using optimization in belief space.
Wen SunRon AlterovitzPublished in: IROS (2014)
Keyphrases
- planning under uncertainty
- belief space
- robotic tasks
- motion planning
- markov decision processes
- decision theoretic
- ai planning
- multi agent
- dynamical systems
- partially observable markov decision processes
- dynamic environments
- state space
- image sequences
- space time
- belief state
- degrees of freedom
- path planning
- machine learning
- web service composition
- partially observable