Global/local Motion Planning Based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots. Sayols, N., Sozzi, A., Piccinelli, N., Hernansanz, A., Casals, A., Bonfe, M., & Muradore, R. abstract bibtex This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.
@article{sayols_globallocal_nodate,
title = {Global/local {Motion} {Planning} {Based} on {Dynamic} {Trajectory} {Reconfiguration} and {Dynamical} {Systems} for {Autonomous} {Surgical} {Robots}},
abstract = {This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.},
language = {en},
author = {Sayols, Narcis and Sozzi, Alessio and Piccinelli, Nicola and Hernansanz, Albert and Casals, Alicia and Bonfe, Marcello and Muradore, Riccardo},
pages = {7},
}
Downloads: 0
{"_id":"KLtkApqStNAZBtSik","bibbaseid":"sayols-sozzi-piccinelli-hernansanz-casals-bonfe-muradore-globallocalmotionplanningbasedondynamictrajectoryreconfigurationanddynamicalsystemsforautonomoussurgicalrobots","author_short":["Sayols, N.","Sozzi, A.","Piccinelli, N.","Hernansanz, A.","Casals, A.","Bonfe, M.","Muradore, R."],"bibdata":{"bibtype":"article","type":"article","title":"Global/local Motion Planning Based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots","abstract":"This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.","language":"en","author":[{"propositions":[],"lastnames":["Sayols"],"firstnames":["Narcis"],"suffixes":[]},{"propositions":[],"lastnames":["Sozzi"],"firstnames":["Alessio"],"suffixes":[]},{"propositions":[],"lastnames":["Piccinelli"],"firstnames":["Nicola"],"suffixes":[]},{"propositions":[],"lastnames":["Hernansanz"],"firstnames":["Albert"],"suffixes":[]},{"propositions":[],"lastnames":["Casals"],"firstnames":["Alicia"],"suffixes":[]},{"propositions":[],"lastnames":["Bonfe"],"firstnames":["Marcello"],"suffixes":[]},{"propositions":[],"lastnames":["Muradore"],"firstnames":["Riccardo"],"suffixes":[]}],"pages":"7","bibtex":"@article{sayols_globallocal_nodate,\n\ttitle = {Global/local {Motion} {Planning} {Based} on {Dynamic} {Trajectory} {Reconfiguration} and {Dynamical} {Systems} for {Autonomous} {Surgical} {Robots}},\n\tabstract = {This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints related to the desired task, like for example the direction to approach the final target and the presence of moving obstacles. The developed motion planner is structured as a two-layer architecture: a global level computes smooth spline-based trajectories that are continuously updated using virtual potential fields; a local level, exploiting Dynamical Systems based obstacle avoidance, ensures collision free connections among the spline control points. The proposed architecture is validated in a realistic surgical scenario.},\n\tlanguage = {en},\n\tauthor = {Sayols, Narcis and Sozzi, Alessio and Piccinelli, Nicola and Hernansanz, Albert and Casals, Alicia and Bonfe, Marcello and Muradore, Riccardo},\n\tpages = {7},\n}\n\n","author_short":["Sayols, N.","Sozzi, A.","Piccinelli, N.","Hernansanz, A.","Casals, A.","Bonfe, M.","Muradore, R."],"key":"sayols_globallocal_nodate","id":"sayols_globallocal_nodate","bibbaseid":"sayols-sozzi-piccinelli-hernansanz-casals-bonfe-muradore-globallocalmotionplanningbasedondynamictrajectoryreconfigurationanddynamicalsystemsforautonomoussurgicalrobots","role":"author","urls":{},"metadata":{"authorlinks":{}},"html":""},"bibtype":"article","biburl":"https://bibbase.org/zotero/yuuki_koyama","dataSources":["bJBFjpaYFPYMt7By9"],"keywords":[],"search_terms":["global","local","motion","planning","based","dynamic","trajectory","reconfiguration","dynamical","systems","autonomous","surgical","robots","sayols","sozzi","piccinelli","hernansanz","casals","bonfe","muradore"],"title":"Global/local Motion Planning Based on Dynamic Trajectory Reconfiguration and Dynamical Systems for Autonomous Surgical Robots","year":null}