Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering

DOI10.1007/978-3-540-68405-3_20zbMath1188.93114OpenAlexW1576048652WikidataQ57365920 ScholiaQ57365920MaRDI QIDQ3564316

Ron Alterovitz, Michael S. Branicky, Ken Goldberg

Publication date: 2 June 2010

Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-540-68405-3_20

zbMATH Keywords

uncertaintymedical imagingMarkov decision processnonholonomic motion planninginfinite horizon dynamic programming

Mathematics Subject Classification ID

Discrete-time Markov processes on general state spaces (60J05) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Optimal stochastic control (93E20) Image processing (compression, reconstruction, etc.) in information and communication theory (94A08) Viscosity solutions to Hamilton-Jacobi equations in optimal control and differential games (49L25)

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