Robert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura. Nonholonomic Modeling of Needle Steering. In Marcelo H. Ang Jr., Oussama Khatib, editors, Experimental Robotics IX, The 9th International Symposium on Experimental Robotics [ISER 2004, Singapore, 18.-21. June 2004]. Volume 21 of Springer Tracts in Advanced Robotics, pages 35-44, Springer, 2004.
Abstract is missing.