An important issue when planning the tasks that a mobile robot has to reach is the path that it has to follow. In that sense, classical path planning algorithms focus on minimizing the total distance, generally assuming a flat terrain. Newer approaches also include traversability cost maps to define the terrain characteristics. However, this approach may generate unsafe paths in realistic envir...

INTRODUCTION Bevel-tipped flexible needles can be steered in soft tissue to clinical targets along curved paths in 3D while avoiding critical structures. Duty-cycled rotation [1] during insertion allows for control of the curvature of the needle. These capabilities of 3D steerable needles make it potentially suitable for applications such as deep brain stimulation (DBS) and drug delivery to bra...

This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned...

While using drones (UAVs) for remote surveillance missions, it is mandatory to do path planning of the vehicle since these are pilot-less vehicles. Path planning, whether offline (more popular) or online, entails setting up the path as a sequence of locations in the 3D Euclidean space, whose coordinates happen to be latitude, longitude and altitude. For the specific application of remote survei...

This paper discusses GA-based motion planning in 3D space for underwater robotic vehicles. We propose a genetic algorithm (GA) for path planning which generates a collision-free path in an environment with two kinds of obstacles: Solid and hazardous obstacles such that a path cannot intersect solid obstacles while it can intersect hazardous obstacles at the expense of extra costs. The most impo...

introduction: breast conserving radiotherapy is one of the most common procedures performed in any radiation oncology department. a tangential parallel-opposed pair is usually used for this purpose. this technique is performed using 2d or 3d treatment planning systems. the aim of this study was to compare 2d treatment planning with 3d treatment planning in tangential irradiation in breast conse...

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the significant features, finds correspondences in both images, matches them together and computes their 3D coordinates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. T...

Based on environmental awareness and effective path planning algorithm, effective robot path planning can be achieved. In this paper, the Kinect sensor, the latest vision sensing technology, is used to perceive the obstacles and terrain information in dynamic environment in real-time, which enables robots to realize effective path planning tasks in complex dynamic environment. Using the real-im...