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Percutaneous intervention is a commonly used surgical procedure for many diagnostic and therapeutic operations. Target motion in soft tissue during an intervention caused by tissue deformation is a common problem, along with needle displacement. In this work, we present a deformation planner that generates continuous curvature paths with a bounded curvature derivative that can be used on-line to reach...
Path planning is one of the most important parts in the research on flexible needle insertion. Based on the Improved Rapidly-exploring Random Tree (I-RRT), the path planning for flexible needle insertion is studied in this paper. Traditional RRT algorithm can generate paths which can avoid obstacle and reach the target precisely, but the path is not continuously differentiable and cannot match the...
This work studied three-dimensional path planning of rotary-wing flying robot in free flight model. Path planning algorithm combining artificial potential field with ant colony algorithm was proposed for the complex problem in three-dimensional environment. These two algorithms were integrated and optimized for three-dimensional environment with advantages and disadvantages of these two algorithm...
This paper considers a path planning problem with two marsupial vehicles (one carrier vehicle and one passenger vehicle that is deployed by the carrier vehicle) exploring a planar area. This work is motivated by multi-agent intelligence, surveillance, and reconnaissance missions in contested environments. The vehicles are heterogeneous, e.g., the carrier vehicle is faster than the passenger vehicle...
This research presents a novel approach for geometrically constrained path planning. The methodology introduced is based on the standard Fast Marching Square (FM2) method and a path extraction approach based on an optimisation process named Differential Evolution (DE). The geometric constraints are introduced in the path extraction phase. This step uses both the funnel potential of the environment...
The need for intelligent autonomous vehicles is increasing in industrial and everyday life as well. Path planning among obstacles is one of the challenging problems to be solved to achieve autonomous navigation. In this paper we present a global geometric path planning method for car-like robots, which proved to be effective especially in cluttered environments, containing narrow passages. Navigation...
We present a framework for planning collision-free paths online for autonomous underwater vehicles (AUVs) in unknown environments. It is composed of three main modules (mapping, planning and mission handler) that incrementally explore the environment while solving start-to-goal queries. We use an octree-based representation of the environment and we extend the optimal rapidly-exploring random tree...
This paper examines an integrated path planning and power management problem for a solar-powered unmanned ground vehicle (UGV). The proposed method seeks to minimize the travel time of the UGV through an area with a known energy density by designing an optimal path and allocating the vehicle's power among its electrical components, while the UGV operates under strict power constraints and harvests...
New potential applications of autonomous underwater vehicles (AUVs) involve operations in unknown and cluttered environments, therefore increasing the vehicle exposure to collisions. To cope with these situations, we use an AUV framework for planning collision-free paths in unknown environments, which adapt and replan the paths according to nearby obstacles perceived during the mission execution using...
Needle placement errors can mitigate the effectiveness of the diagnosis or the therapy, sometimes with catastrophic outcomes. Previous design of a simplified model for needle deflection estimation was motivated by the clinical constraints of ARCS (Abdomino-pelvic Robotic-driven slightly flexible needle insertion performed in CT/MRI-guided Scenario). We present in this work, the validation results...
Because the impact of ocean current on Autonomous Underwater Vehicle (AUV) navigation is greater than the impact of wind on ground mobile robot, there is the essential difference between underwater environment and ground environment. Ocean current and obstacles must be considered for AUV path planning in underwater environment. In this paper, a novel kind of AUV path planning algorithm is proposed...
The Sat-Tsp language was recently proposed [1] for expressing and solving high-level robotic path planning problems. In this paper we show how different constraints that commonly appear in path planning problems, such as set constraints, counting constraints, and ordering constraints can all be expressed in the Sat-Tsp language. We also show how the language can be used to express multi-robot path...
Coverage Path Planning (CPP) is an essential problem in many applications of robotics, including but not limited to autonomous demining and farming. Most works on CPP address time efficiency or coverage completeness in a bi-dimensional and flat environment, not taking the terrain relief into account. In this paper we use a Genetic Algorithm to optimize the solution to the CPP problem in terms of energy...
Prior knowledge of possible routes is undoubtedly an added value for autonomous navigation in irregular agricultural terrains. This information is particularly important when it involves the navigation of a monitoring robot, which necessarily carries a wide range of expensive sensors and when the vineyard presents a non-uniform configuration and extends over a very highly uneven terrain. In such case,...
This paper proposes an improved multi-robot path planning algorithm for finding the path via interacting with multiple robots. The task is to find the path with a minimum amount of computation time by using fast re-planning algorithm. To solve multi-robot path planning problem which cannot be executed in real-time, we regard other robots, exclusive the origin robot, as obstacles. Therefore, the robot...
This work considers Virtual Reality (VR) applications dealing with objects manipulation (such as industrial product assembly, disassembly or maintenance simulation). For such applications, the operator performing the simulation can be assisted by path planning techniques from the robotics research field. A novel automatic path planner involving geometrical, topological and semantic information of...
An important goal in navigation of low cost robots is low memory usage. In this paper, we propose a novel navigation algorithm (NafisNav) suitable for embedded systems with low resources, mainly memory. The proposed path finding algorithm is designed and implemented in grid maps. Unlike existing algorithms, that mainly focus on obtaining the shortest possible path for navigation, the proposed algorithm...
We compare eight commonly used path planning algorithms on a robot arm for pruning grape vines. Pruning grape vines involves planning a path that reaches into cluttered regions and through narrow passages. These problems are known to be difficult for sampling based planners. We show that the choice of milestone expansion method has more of an effect on path planner performance than search directionality...
This paper presents a path-planning approach to enable a swarm of robots move to a goal region while avoiding collisions with static and dynamic obstacles. To provide scalability and account for the complexity of the interactions in the swarm, the proposed approach combines probabilistic roadmaps with potential fields. The underlying idea is to provide the swarm with a series of intermediate goals...
This paper presents an adaptive artificial potential field method for robot's obstacle avoidance path planning. Despite the obstacle avoidance path planning based on the artificial potential field method is very popular, but there is local minima problem with this approach. As a result, this paper proposes an improved obstacle potential field function model considering for the size of the robot and...
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