Motion planning with sequential convex optimization and convex collision checking

Needle Steering in 3-D Via Rapid Replanning

(2014) Sachin Patil et al.   IEEE Transactions on Robotics

Optimal Control on Lie Groups: The Projection Operator Approach

(2013) Alessandro Saccon et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Generation of whole-body optimal dynamic multi-contact motions

(2013) Sébastien Lengagne et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning

(2013) M.C. Bernardes et al.   MECHATRONICS

Discovery of complex behaviors through contact-invariant optimization

(2012) Igor Mordatch et al.   ACM TRANSACTIONS ON GRAPHICS

MoveIt! [ROS Topics]

(2012) Sachin Chitta et al.   IEEE ROBOTICS & AUTOMATION MAGAZINE

The Open Motion Planning Library

(2012) I. A. Sucan et al.   IEEE ROBOTICS & AUTOMATION MAGAZINE

Collision-free and smooth trajectory computation in cluttered environments

(2012) Jia Pan et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range

(2011) Boris Houska et al.   AUTOMATICA

Robot-Assisted Needle Steering

(2011) Kyle Reed et al.   IEEE ROBOTICS & AUTOMATION MAGAZINE

Sampling-based algorithms for optimal motion planning

(2011) Sertac Karaman et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

An Analytical Continuous-Curvature Path-Smoothing Algorithm

(2010) Kwangjin Yang et al.   IEEE Transactions on Robotics

Percutaneous Intracerebral Navigation by Duty-Cycled Spinning of Flexible Bevel-Tipped Needles

(2010) Johnathan A Engh et al.   NEUROSURGERY

Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics

(2009) Vincent Duindam et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH