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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

Giacomo De Rossi Marco Minelli, Alessio Sozzi Nicola Piccinelli Federica Ferraguti Francesco Setti Marcello Bonfé Christian Secchi Riccardo Muradore

Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment Conference

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2020, ISBN: 978-1-7281-4004-9.

Abstract | Links | BibTeX | Tags: Artificial Intelligence, Collision avoidance, Manipulators, Medical robotics, mobile robots, predictive control, Robot, Robot vision, Surgery, trajectory control, uncertain systems