Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles

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@article{Liu2016FastAA, title={Fast and Adaptive Fractal Tree-Based Path Planning for Programmable Bevel Tip Steerable Needles}, author={Fangde Liu and Arnau Garriga-Casanovas and Riccardo Secoli and Ferdinando Rodriguez y Baena}, journal={IEEE Robotics and Automation Letters}, year={2016}, volume={1}, pages={601-608} }