Linear MPC-based Motion Planning for Autonomous Surgery
Marco Minelli,Alessio Sozzi,Giacomo De Rossi,Federica Ferraguti,Saverio Farsoni,Francesco Setti,Riccardo Muradore,Marcello Bonfè,Cristian Secchi,Marco Minelli,Alessio Sozzi,Giacomo De Rossi,Federica Ferraguti,Saverio Farsoni,Francesco Setti,Riccardo Muradore,Marcello Bonfè,Cristian Secchi
Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows the controller to be both computationally faster and better performing due to the increased prediction...
