P. K. Agarwal, T. Biedl, S. Lazard, S. Robbins, S. Suri et al., Curvature-constrained shortest paths in a convex polygon, SIAM J. Comput, vol.31, issue.6, pp.1814-1851, 2002.
DOI : 10.1137/s0097539700374550
URL : https://hal.archives-ouvertes.fr/inria-00072573

R. Alterovitz, M. Branicky, and K. Goldberg, Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering, Workshop on the Algorithmic Foundations of Robotics, 2006.
DOI : 10.1007/978-3-540-68405-3_20
URL : http://parasol.cs.tamu.edu/wafr06/papers/p63.pdf

R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, Steering flexible needles under Markov motion uncertainty, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp.120-125, 2005.
DOI : 10.1109/iros.2005.1544969

N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, OBPRM: An obstacle-based PRM for 3D workspaces, pp.156-168, 1998.

M. S. Apaydin, D. L. Brutlag, C. Guestrin, D. Hsu, and J. Latombe, Stochastic roadmap simulation: an efficient representation and algorithm for analyzing molecular motion, Proc. RECOMB, pp.12-21, 2002.
DOI : 10.1089/10665270360688011

M. Apaydin, D. Brutlag, C. Guestrin, D. Hsu, and J. Latombe, Stochastic conformational roadmaps for computing ensemble properties of molecular motion, Algorithmic Foundations of Robotics V, pp.131-148, 2003.

A. Atramentov and S. M. Lavalle, Efficient nearest neighbor searching for motion planning, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2002.
DOI : 10.1109/robot.2002.1013429

D. P. Bertsekas, Dynamic Programming and Optimal Control, 2000.

A. Bicchi, G. Casalino, and C. Santilli, Planning shortest boundedcurvature paths for a class of nonholonomic vehicles among obstacles, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp.1349-1354, 1995.

V. Boor, N. H. Overmars, and A. F. Van-der-stappen, The gaussian sampling strategy for probabilisitic roadmap planners, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp.1018-1023, 1999.

B. Bouilly, T. Simeon, and R. Alami, A numerical technique for planning motion strategies of a mobile robot in presence of uncertainty, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 1995.
URL : https://hal.archives-ouvertes.fr/hal-01979369

B. Burns and O. Brock, Toward optimal configuration space sampling, Proc. Robotics: Science and Systems, 2005.

H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard et al., Principles of Robot Motion: Theory, Algorithms, and Implementations, 2005.

K. Cleary, L. Ibanez, N. Navab, D. Stoianovici, A. Patriciu et al., Segmentation of surgical needles for fluoroscopy servoing using the Insight Software Toolkit (ITK), Proc. Int. Conf. of the IEEE Engineering In Medicine and Biology Society, pp.698-701, 2003.

T. Dean, L. P. Kaelbling, J. Kirman, and A. Nicholson, Planning under time constraints in stochastic domains, Artificial Intelligence, vol.76, issue.1-2, pp.35-74, 1995.

S. P. Dimaio, D. F. Kacher, R. E. Ellis, G. Fichtinger, N. Hata et al., Needle artifact localization in 3T MR images, Medicine Meets Virtual Reality, vol.14, pp.120-125, 2006.

L. Dubins, On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents, American J. of Mathematics, vol.79, pp.497-516, 1957.

D. Ferguson and A. Stentz, Focussed dynamic programming: Extensive comparative results, Robotics Institute, 2004.

D. Hearn and M. P. Baker, Computer Graphics with OpenGL, 2003.

P. Jacobs and J. Canny, Planning smooth paths for mobile robots, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp.2-7, 1989.

L. E. Kavraki, P. Svestka, J. Latombe, and M. Overmars, Probabilistic roadmaps for path planning in high dimensional configuration spaces, IEEE Trans. on Robotics and Automation, vol.12, issue.4, pp.566-580, 1996.

J. Latombe, Motion planning: A journey of robots, molecules, digital actors, and other artifacts, Int. J. of Robotics Research, vol.18, issue.11, pp.1119-1128, 1999.

J. Laumond, P. E. Jacobs, M. Ta¨?xta¨?x, and R. M. Murray, A motion planner for nonholonomic mobile robots, IEEE Trans. on Robotics and Automation, vol.10, issue.5, pp.577-593, 1994.

S. M. Lavalle, Planning Algorithms, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01993243

S. M. Lavalle, M. S. Branicky, and S. R. Lindemann, On the relationship between classical grid search and probabilistic roadmaps, Int. J. of Robotics Research, vol.23, issue.7/8, pp.673-692, 2004.

S. M. Lavalle, D. Lin, L. J. Guibas, J. Latombe, and R. Motwani, Finding an unpredictable target in a workspace with obstacles, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA, pp.737-742, 1997.

S. M. Lavalle and S. A. Hutchinson, An objective-based framework for motion planning under sensing and control uncertainties, Int. J. of Robotics Research, vol.17, issue.1, pp.19-42, 1998.

A. Lazanas and J. Latombe, Motion planning with uncertainty: A landmark approach, Artificial Intelligence, vol.76, issue.1-2, pp.285-317, 1995.
DOI : 10.1016/0004-3702(94)00079-g
URL : https://doi.org/10.1016/0004-3702(94)00079-g

S. R. Lindemann, I. I. Hussein, and S. M. Lavalle, Real time feedback control for nonholonomic mobile robots with obstacles, Proc. IEEE Conf. Decision and Control, 2006.
DOI : 10.1109/cdc.2006.377631
URL : http://msl.cs.uiuc.edu/~slindema/papers/LinHusLav06.pdf

W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura et al., Diffusion-based motion planning for a nonholonomic flexible needle model, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp.4611-4616, 2005.

J. Sellen, Approximation and decision algorithms for curvatureconstrained path planning: A state-space approach, pp.59-67, 1998.

H. Tangelder and A. Fabri, dD spatial searching," in CGAL-3.2 User and Reference Manual, CGAL Editorial Board, 2006.

S. Thrun, W. Burgard, D. Fox, and P. Robotics, , 2005.

J. Van-den-berg and M. Overmars, Planning the shortest safe path amidst unpredictably moving obstacles, Proc. WAFR, 2006.

D. Vasquez, F. Large, T. Fraichard, and C. Laugier, High-speed autonomous navigation with motion prediction for unknown moving obstacles, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp.82-87, 2004.
DOI : 10.1109/iros.2004.1389333
URL : https://hal.archives-ouvertes.fr/inria-00182062

R. J. Webster, I. , J. S. Kim, N. J. Cowan, G. S. Chirikjian et al., Nonholonomic modeling of needle steering, Int. J. of Robotics Research, vol.25, pp.509-525, 2006.

R. J. Webster, I. , J. Memisevic, and A. M. Okamura, Design considerations for robotic needle steering, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp.3599-3605, 2005.
DOI : 10.1109/robot.2005.1570666