Steering Flexible Needles Under Markov Motion Uncertainty∗ Ron Alterovitz and Andrew Lim Gregory S. Chirikjian and Allison M. Okamura Ken Goldberg

Source URL: goldberg.berkeley.edu

• Mathematics
• Physics
• Motion planning
• Theoretical computer science
• Nonholonomic system
• Needle
• Curvature

Auton Robot DOIs10514Modeling dynamic scenarios for local sensor-based motion planning Luis Montesano · Javier Minguez · Luis Montano

Source URL: webdiis.unizar.es

Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles∗ Ron Alterovitz Ken Goldberg

Source URL: goldberg.berkeley.edu

• Surgical procedures
• Biopsy
• Motion planning
• Theoretical computer science
• Needle
• Prostate cancer
• Transurethral needle ablation of the prostate

High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg Abstract— Recent progress in motion plan

Source URL: goldberg.berkeley.edu

• Topology
• Mathematics
• Homotopy theory
• Algebraic topology
• Fundamental group
• Homotopy
• Cohomology
• Topological space
• Winding number
• Homology
• Retract
• Covering space

Motion Planning For Steerable Needles in 3D Environments with Obstacles Using Rapidly-Exploring Random Trees and Backchaining Jijie Xu1 , Vincent Duindam2, Ron Alterovitz1,3 , and Ken Goldberg1,2 1. Department of IEOR, U

Source URL: goldberg.berkeley.edu

• Search algorithms
• Robot kinematics
• Robot navigation
• Robot control
• Rapidly-exploring random tree
• Motion planning
• Kinodynamic planning
• Linear programming
• Nonholonomic system
• Nearest neighbor search

3D Path Planning and Execution for Search and Rescue Ground Robots Francis Colas and Srivatsa Mahesh and Franc¸ois Pomerleau and Ming Liu and Roland Siegwart Abstract— One milestone for autonomous mobile robotics is t

Source URL: www.ee.ust.hk

• Robotics
• Robot navigation
• Motion planning
• Theoretical computer science
• Artificial intelligence
• Probabilistic roadmap
• Mobile robot
• Robot
• Autonomous robot
• Simultaneous localization and mapping
• Any-angle path planning

An Approach to Socially Compliant Leader Following for Mobile Robots Markus Kuderer and Wolfram Burgard Department of Computer Science, University of Freiburg Abstract. Mobile robots are envisioned to provide more and m

Source URL: europa2.informatik.uni-freiburg.de

• Robotics
• Robot kinematics
• Robot
• Mobile robot
• Humanrobot interaction
• Velocity obstacle
• Motion planning
• Navigation function
• Humanoid robot
• Taarlab

C:/Users/Jur van den Berg/Documents/papers/RSS10 - NeedleSteering/jur-planningcontrol.dvi

Source URL: goldberg.berkeley.edu

• Control theory
• Robot control
• Stochastic control
• Robot kinematics
• Optimal control
• Motion planning
• Kalman filter
• Linear-quadratic-Gaussian control
• Robotics
• Robot
• Normal distribution

1 3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics Vincent Duindam1

Source URL: goldberg.berkeley.edu

• Robot kinematics
• Robotics
• Mathematics
• Theoretical computer science
• Search algorithms
• Automated planning and scheduling
• Inverse kinematics
• Motion planning
• Dubins path
• Shortest path problem
• Kinematics
• Algorithm

Robot Navigation in Hand-Drawn Sketched Maps Federico Boniardi Bahram Behzadian Wolfram Burgard

Source URL: europa2.informatik.uni-freiburg.de

• Robot navigation
• Mobile robot navigation
• Robotics
• Mobile robot
• Robotic mapping
• Robot
• Simultaneous localization and mapping
• Motion planning
• Monte Carlo localization
• Occupancy grid mapping
• Distribution
• Localization