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. Author manuscript; available in PMC: 2016 Jan 31.
Published in final edited form as: IEEE Trans Robot. 2015 Jan 29;31(1):104–116. doi: 10.1109/TRO.2014.2380273

Fig. 11.

Fig. 11

The percent of successful executions (i.e., reaching the goal and no collisions with obstacles) for the HFR, Preplan+LQG, and LQG-MP for the steerable needle liver biopsy scenario.