Robust path planning for flexible needle insertion using Markov decision processes.
Xiaoyu TanPengqian YuKah-Bin LimChee-Kong ChuiPublished in: Int. J. Comput. Assist. Radiol. Surg. (2018)
Keyphrases
- path planning
- markov decision processes
- mobile robot
- path planning algorithm
- optimal policy
- finite state
- state space
- dynamic environments
- reinforcement learning
- collision avoidance
- multi robot
- transition matrices
- policy iteration
- dynamic programming
- average cost
- degrees of freedom
- path finding
- needle insertion
- motion planning
- real time dynamic programming
- optimal path
- configuration space
- collision free
- decision makers