@InProceedings{Bernardes2011b,
  author        = {Bernardes, Mariana C and Adorno, Bruno V and Poignet, Philippe and Zemiti, Nabil and Borges, Geovany A},
  title         = {{Adaptive path planning for steerable needles using duty-cycling}},
  booktitle     = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2011},
  pages         = {2545--2550},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/IROS.2011.6094594},
  isbn          = {978-1-61284-456-5},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094594},
}

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