Toward certifiable optimal motion planning for medical steerable needles.
Mengyu FuKiril SoloveyOren SalzmanRon AlterovitzPublished in: Int. J. Robotics Res. (2023)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- robot arm
- mobile robot
- path planning
- inverse kinematics
- humanoid robot
- collision free
- robotic tasks
- autonomous mobile robot
- robotic arm
- multi robot
- optimal solution
- configuration space
- dynamic programming
- three dimensional
- manipulation tasks
- mechanical systems
- obstacle avoidance
- pose estimation
- belief space
- potential field
- spatio temporal
- training set
- nearest neighbor searching