Needle Steering POMDP

Robot model - Dubin’s car - to reach goal configuration in a cluttered environment An application - steering medical needle to required tissue Modeled as an MDP since it has more success by avoiding a narrow, riskier path

Objective - capture the uncertainty in states also - POMDP Uncertainty - robot location, environment map Solve the POMDP using DESPOT and POMCP solvers optimizating the planner to solve POMDP faster