相关论文: Resolution-Optimal Motion Planning for Steerable N…

Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this procedure has two main limitations: 1) Manual sampling through…

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…

Visual servoing for the development of autonomous robotic systems capable of administering UltraSound (US) guided regional anesthesia requires real-time segmentation of nerves, needle tip localization and needle trajectory extrapolation.…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Robot motion planning has made vast advances over the past decades, but the challenge remains: robot mobile manipulators struggle to plan long-range whole-body motion in common household environments in real time, because of…

A cutting-plane model for a nonsmooth function is the maximum of several first-order expansions centered at different points. Using such a model in a bundle method leads to linear convergence (of serious steps) to a minimum. In smooth…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

To date, the simulation of organ deformations for applications like therapy planning or image-guided interventions is calculated by solving the elastodynamics equations. While efficient solvers have been proposed for fast simulations,…

Background: Drug development is often inefficient, costly and lengthy, yet it is essential for evaluating the safety and efficacy of new interventions. Compared with other disease areas, this is particularly true for Phase II / III cancer…

Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…

The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs…

In this paper we consider the problem of computing an optimal set of motion primitives for a lattice planner. The objective we consider is to compute a minimal set of motion primitives that t-span a configuration space lattice. A set of…

Sampling-based methods for motion planning, which capture the structure of the robot's free space via (typically random) sampling, have gained popularity due to their scalability, simplicity, and for offering global guarantees, such as…

A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Robotically steerable compliant surgical tools offer several advantages over rigid tools, including enhanced dexterity, reduced tissue damage, and the ability to generate non-linear trajectories in minimally invasive neurosurgical…

In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…