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Marco Minelli Alessio Sozzi, Giacomo De Rossi Federica Ferraguti Francesco Setti Riccardo Muradore Marcello Bonfè Cristian Secchi

Integrating Model Predictive Control and Dynamic Waypoints Generation for Motion Planning in Surgical Scenario Conference

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

Abstract | Links | BibTeX | Tags: Collision avoidance, Minimally invasive surgery, Planning, Predictive models, Robot kinematics, Robots, Tools

Narcís Sayols Alessio Sozzi, Nicola Piccinelli Albert Hernansanz Alicia Casals Marcello Bonfè ; Riccardo Muradore,

Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots Conference

2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.

Abstract | Links | BibTeX | Tags: assistive tasks, autonomous execution, autonomous surgical, Collision avoidance, collision free connections, collision-free trajectories, desired task, developed motion planner, dynamical systems based obstacle avoidance, final target, geometric constraints, global level computes smooth spline-based trajectories, Medical robotics, mobile robots, motion control, moving obstacles, realistic surgical scenario, Robots, splines (mathematics), Surgery, surgery INSPEC: Non-Controlled Indexing robotic minimally invasive surgery, Task analysis, Tools, Trajectory, two-layer architecture