M. S. Ishiyama and K. I. Arai, Magnetic micromachines for medical applications, Journal of Magnetism and Magnetic Materials, vol.242, issue.245, pp.242-245, 2002.
DOI : 10.1016/S0304-8853(01)01181-7

J. Abbott, Z. Nagy, F. Beyeler, and B. Nelson, Robotics in the small, p.92, 2007.

T. A. Cavalcanti, B. Shirinzadeh, and S. Ikeda, Nanorobot for Brain Aneurysm, The International Journal of Robotics Research, vol.28, issue.4, pp.558-570, 2009.
DOI : 10.1177/0278364908097586

J. J. Abbott, K. E. Peyer, M. C. Lagomarsino, L. Zhang, L. X. Dong et al., How should microrobots swim?, International Journal of Robotics Research, pp.10-1177, 2009.
DOI : 10.1007/978-3-642-14743-2_14

B. Behkam and M. Sitti, Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots, Journal of Dynamic Systems, Measurement, and Control, vol.128, issue.1, p.3643, 2006.
DOI : 10.1115/1.2171439

M. M. Martel, S. , and P. Pouponneau, Flagellated magnetotactic bacteria as controlled MRItrackable propulsion and steering systems for medical nanorobots operating in the human microvasculature, Int. J. Robot. Res, vol.28, issue.4, p.571582, 2009.

O. Felfoul, J. Mathieu, G. Beaudoin, and S. Martel, In vivo MR-tracking based on magnetic signature selective excitation, pp.28-35, 2008.

K. M. Sabra, W. , and M. S. , Use of 3D potential field and an enhanced breath-first search algorithms for path-planning of microdevices propelled in the cardiovascular system, 27th IEEE EMBS Annual International Conference, pp.91-100, 2005.

S. Tamaz, A. Chanu, J. Mathieu, R. Gourdeau, and S. Martel, Real-Time MRI-Based Control of a Ferromagnetic Core for Endovascular Navigation, IEEE Transactions on Biomedical Engineering, vol.55, issue.7, pp.1854-1863, 2008.
DOI : 10.1109/TBME.2008.919720

C. Kirbas and F. Quek, A review of vessel extraction techniques and algorithms, ACM Computing Surveys, vol.36, issue.2, pp.81-121, 2004.
DOI : 10.1145/1031120.1031121

P. Reuzé, J. Coatrieux, L. Luo, and J. Dillenseger, A 3D moment based approach for blood vessel detection and quantification in MRA, Technology and Health Care, vol.1, pp.181-188, 1993.

J. Tokuda, G. S. Fischer, S. P. Dimaio, D. G. Gobbi, C. Csoma et al., Integrated navigation and control software system for MRI-guided robotic prostate interventions, Computerized Medical Imaging and Graphics, vol.34, issue.1, pp.3-8, 2010.
DOI : 10.1016/j.compmedimag.2009.07.004

T. Deschamps, Curve and shape extraction with minimal path and level-sets techniques: Applications to 3d medical imaging, 2001.

O. Wink, W. J. Niessen, and M. A. Viergever, Minimum cost path determination using a simple heuristic function, Proceedings 15th International Conference on Pattern Recognition. ICPR-2000, p.7010, 2000.
DOI : 10.1109/ICPR.2000.903713

O. Wink, W. Niessen, B. Verdonck, and M. Viergever, Vessel Axis Determination Using Wave Front Propagation Analysis, Medical Image Computing and Computer-Assisted Intervention, vol.2208, pp.845-853, 2001.
DOI : 10.1007/3-540-45468-3_101

L. Cohen and R. Kimmel, Global minimum for active contour models: a minimal path approach, Proceedings CVPR IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.57-78, 1997.
DOI : 10.1109/CVPR.1996.517144

E. W. Dijkstra, A note on two problems in connexion with graphs, Numerische Mathematik, vol.4, issue.1, pp.269-271, 1959.
DOI : 10.1007/BF01386390

J. Pearl, Heuristics: intelligent search strategies for computer problem solving

J. Sethian, Level set methods and fast marching methods, 1999.

A. Frangi, W. Niessen, K. Vincken, and M. Viergever, Multiscale vessel enhancement filtering, Lecture Notes in Computer Science, vol.191, issue.6, pp.130-137, 1998.
DOI : 10.1148/radiology.191.1.8134563
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.110.7722

L. Arcèse, M. Fruchard, and A. Ferreira, Nonlinear modeling and robust controllerobserver for a magnetic microrobot in a fluidic environment using MRI gradients, IEEE/RSJ Int. Conf. on Intel. Robots and Systems, pp.534-539, 2009.

D. Clarke, C. Mohtadi, and P. Tuffs, Generalized predictive control???Part I. The basic algorithm, Automatica, vol.23, issue.2, pp.137-160, 1987.
DOI : 10.1016/0005-1098(87)90087-2

M. Mahfouf and D. Linkens, Generalised predictive control and bioengineering, ser. Systems and Control, 1998.

S. Huang, K. Tan, and T. Lee, Applied predictive control, ser. Advances in Industrial Control, 2002.

S. Qin and T. Badgwell, A survey of industrial model predictive control technology, Control Engineering Practice, vol.11, issue.7, pp.733-764, 2003.
DOI : 10.1016/S0967-0661(02)00186-7