On the Collaboration of an Automatic Path-Planner and a Human User for Path-Finding in Virtual Industrial Scenes

This paper describes a global interactive framework enabling an automatic path-planner and a user to collaborate for finding a path in cluttered virtual environments. First, a collaborative architecture including the user and the planner is described. Then, for real time purpose, a motion planner divided into different steps is presented. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using these pre-computed data, a second algorithm finds a collision free path in real time. Once the path is found, an haptic artificial guidance on the path is provided to the user. The user can then influence the planner by not following the path and automatically order a new path research. The performances are measured on tests based on assembly simulation in CAD scenes

A technique for breaking ice in the path of a ship

A technique is described for breaking ice in the path of a ship. A laser is placed on the bow of the ship with apparatus to scan the ice in the path of the ship with the laser beam. The beam cuts or shatters the ice, enabling the ship to break the ice in its path

Fast and adaptive fractal tree-based path planning for programmable bevel tip steerable needles

© 2016 IEEE. Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgical scenarios, a real-time path planning algorithm with high update frequency would be advantageous. Real-time path planning for nonholonomic systems is commonly used in a broad variety of fields, ranging from aerospace to submarine navigation. In this letter, we propose to take advantage of the architecture of graphics processing units (GPUs) to apply fractal theory and thus parallelize real-time path planning computation. This novel approach, termed adaptive fractal trees (AFT), allows for the creation of a database of paths covering the entire domain, which are dense, invariant, procedurally produced, adaptable in size, and present a recursive structure. The generated cache of paths can in turn be analyzed in parallel to determine the most suitable path in a fraction of a second. The ability to cope with nonholonomic constraints, as well as constraints in the space of states of any complexity or number, is intrinsic to the AFT approach, rendering it highly versatile. Three-dimensional (3-D) simulations applied to needle steering in neurosurgery show that our approach can successfully compute paths in real-time, enabling complex brain navigation

Improving the accuracy of estimates of animal path and travel distance using GPS drift-corrected dead reckoning

Route taken and distance travelled are important parameters for studies of animal locomotion. They are often measured using a collar equipped with GPS. Collar weight restrictions limit battery size, which leads to a compromise between collar operating life and GPS fix rate. In studies that rely on linear interpolation between intermittent GPS fixes, path tortuosity will often lead to inaccurate path and distance travelled estimates. Here, we investigate whether GPS‐corrected dead reckoning can improve the accuracy of localization and distance travelled estimates while maximizing collar operating life. Custom‐built tracking collars were deployed on nine freely exercising domestic dogs to collect high fix rate GPS data. Simulations were carried out to measure the extent to which combining accelerometer‐based speed and magnetometer heading estimates (dead reckoning) with low fix rate GPS drift correction could improve the accuracy of path and distance travelled estimates. In our study, median 2‐dimensional root‐mean‐squared (2D‐RMS) position error was between 158 and 463 m (median path length 16.43 km) and distance travelled was underestimated by between 30% and 64% when a GPS position fix was taken every 5 min. Dead reckoning with GPS drift correction (1 GPS fix every 5 min) reduced 2D‐RMS position error to between 15 and 38 m and distance travelled to between an underestimation of 2% and an overestimation of 5%. Achieving this accuracy from GPS alone would require approximately 12 fixes every minute and result in a battery life of approximately 11 days; dead reckoning reduces the number of fixes required, enabling a collar life of approximately 10 months. Our results are generally applicable to GPS‐based tracking studies of quadrupedal animals and could be applied to studies of energetics, behavioral ecology, and locomotion. This low‐cost approach overcomes the limitation of low fix rate GPS and enables the long‐term deployment of lightweight GPS collars

Resilient availability and bandwidth-aware multipath provisioning for media transfer over the internet (Best Paper Award)

Traditional routing in the Internet is best-effort. Path differentiation including multipath routing is a promising technique to be used for meeting QoS requirements of media intensive applications. Since different paths have different characteristics in terms of latency, availability and bandwidth, they offer flexibility in QoS and congestion control. Additionally protection techniques can be used to enhance the reliability of the network. This paper studies the problem of how to optimally find paths ensuring maximal bandwidth and resiliency of media transfer over the network. In particular, we propose two algorithms to reserve network paths with minimal new resources while increasing the availability of the paths and enabling congestion control. The first algorithm is based on Integer Linear Programming which minimizes the cost of the paths and the used resources. The second one is a heuristic-based algorithm which solves the scalability limitations of the ILP approach. The algorithms ensure resiliency against any single link failure in the network. The experimental results indicate that using the proposed schemes the connections availability improve significantly and a more balanced load is achieved in the network compared to the shortest path-based approaches