相关论文: Planning Nonlinear Access Paths for Temporal Bone …

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existing RRT variants by finding paths in lower dimensional…

For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex…

Cochlear implantation is currently the most effective treatment for patients with severe deafness, but mastering cochlear implantation is extremely challenging because the temporal bone has extremely complex and small three-dimensional…

Purpose. Localizing structures and estimating the motion of a specific target region are common problems for navigation during surgical interventions. Optical coherence tomography (OCT) is an imaging modality with a high spatial and…

Sampling-based kinodynamic planners, such as Rapidly-exploring Random Trees (RRTs), pose two fundamental challenges: computing a reliable (pseudo-)metric for the distance between two randomly sampled nodes, and computing a steering input to…

Balancing the trade-off between safety and efficiency is of significant importance for path planning under uncertainty. Many risk-aware path planners have been developed to explicitly limit the probability of collision to an acceptable…

In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

Robotic systems are transforming image-guided interventions by enhancing accuracy and minimizing radiation exposure. A significant challenge in robotic assistance lies in surgical path planning, which often relies on the registration of…

Accurate MRI-to-CT translation promises the integration of complementary imaging information without the need for additional imaging sessions. Given the practical challenges associated with acquiring paired MRI and CT scans, the development…

This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through experience to deduce the cost-to-go of regions within the…

Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…

In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…

An efficient algorithm to solve the $k$ shortest non-homotopic path planning ($k$-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D…

Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…

Finding high-quality solutions quickly is an important objective in motion planning. This is especially true for high-degree-of-freedom robots. Satisficing planners have traditionally found feasible solutions quickly but provide no…

Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path planning method, and its variant, S-RRT, can generate…

The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…

We proposed a novel test-time optimisation (TTO) approach framed by a NeRF-based architecture for long-term 3D point tracking. Most current methods in point tracking struggle to obtain consistent motion or are limited to 2D motion. TTO…