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Kalman filter / Linear-quadratic-Gaussian control / State observer / Normal distribution / Discretization / Curvature / Control theory / Cybernetics / Systems theory


LQG-Based Planning, Sensing, and Control of Steerable Needles Jur van den Berg1 , Sachin Patil1 , Ron Alterovitz1, Pieter Abbeel2 , Ken Goldberg2 Abstract This paper presents a technique for planning and controlling beve
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Document Date: 2011-01-03 19:51:59

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University of North Carolina / Chapel Hill / /

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cancer treatment / medical imaging technology / real-time feedback situations / prostate cancer treatment / /

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Chapel Hill / /

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University of North Carolina / /

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diffusion-based planner / LQR Controller / LQR controller for the needle / path planner / planner / feedback controller / LQG controller / LQG-controller / path and sensor planner / /

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North Carolina / California / /

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simulation / 3-D / medical imaging technology / RRT algorithm / /

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