@conference{Sayols2020,
title = {Global/local motion planning based on Dynamic Trajectory Reconfiguration and Dynamical Systems for autonomous surgical robots},
author = {Narcís Sayols, Alessio Sozzi, Nicola Piccinelli, Albert Hernansanz, Alicia Casals, Marcello Bonfè, and Riccardo Muradore,},
editor = {IEEE},
doi = {10.1109/ICRA40945.2020.9197525},
year = {2020},
date = {2020-09-15},
booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
abstract = {This paper addresses the generation of collision-free 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.},
keywords = {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},
pubstate = {published},
tppubtype = {conference}
}