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Building Local Maps in Surgical Robotics
Philipp Stolka , Dominik Henrich

Abstract (english)
Currently, robotic systems employ almost exclusively global sensor information for navigation purposes. While a global map facilitates planning, it may have insufficient quality. Especially with autonomous robots, additional information - intra-process, spatial, current, and persistent sensor data - proves necessary to cope with uncertainty, measurement errors, and incompleteness of data.
We aim at augmenting the world model for standard robotic systems by implementing local navigation and map-building based on local sensors (which provide local data without primary location information), with the use of force and audio classification in a medical robot system (RONAF) in orthopedics applications as an example.

Publication data

Year: 2005
Publication date: 02. August 2005
Source: IROS 2005, Edmonton, Alberta/Canada
Project: RONAF
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=stolka2005a

BibTeX

@ARTICLE{stolka2005a,
  TITLE             = "Building Local Maps in Surgical Robotics",
  AUTHOR            = "Stolka, Philipp and Henrich, Dominik",
  YEAR              = "2005",
  JOURNAL           = "IROS 2005, Edmonton, Alberta/Canada",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=stolka2005a}",
}

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