2016
A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation
Josephine Granna, Isuru S. Godage, Raul Wirz, Kyle D. Weaver, Robert J. Webster III, Jessica Burgner-Kahrs
RA-L 2016
This letter presents a new heuristic 3-D volume coverage path planning (VCPP) algorithm for robotic intracerebral hemorrhage evacuation. In contrast to existing 3-D planning techniques, the proposed algorithm generates 3-D paths without first decomposing the volume into series of 2-D planning proble