Toward Certifiable Motion Planning for Medical Steerable Needles.
Mengyu FuOren SalzmanRon AlterovitzPublished in: CoRR (2021)
Keyphrases
- motion planning
- degrees of freedom
- inverse kinematics
- trajectory planning
- robot arm
- path planning
- mobile robot
- robotic tasks
- humanoid robot
- multi robot
- robotic arm
- medical imaging
- autonomous mobile robot
- obstacle avoidance
- mechanical systems
- image guided
- configuration space
- spatio temporal
- potential field
- collision free
- feature vectors
- kinematic model
- real time
- nearest neighbor searching