Linear MPC-based Motion Planning for Autonomous Surgery.
Marco MinelliAlessio SozziGiacomo De RossiFederica FerragutiSaverio FarsoniFrancesco SettiRiccardo MuradoreMarcello BonfèCristian SecchiPublished in: IROS (2022)
Keyphrases
- motion planning
- degrees of freedom
- trajectory planning
- path planning
- mobile robot
- humanoid robot
- robot arm
- belief space
- mechanical systems
- multi robot
- robotic tasks
- obstacle avoidance
- closed loop
- autonomous mobile robot
- inverse kinematics
- linear quadratic
- autonomous navigation
- control law
- robotic systems
- real time
- collision free
- robotic arm
- dynamic model
- nearest neighbor searching
- climbing robot
- configuration space
- image guided
- manipulation tasks
- background subtraction
- kinematic model
- computer assisted
- multi modal