Reproduce “Image-Based Path-Planning for Navigation of Soft-Growing Robots in the Spinal Sub-Arachnoid Space” on OpenResearch
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About this paper
George Dimas, Panagiotis G. Kalozoumis, Panagiotis Vartholomeos, Dimitris K. Iakovidis
The authors extend A* path planning to guide a soft-growing robot through a three-dimensional model of the spinal subarachnoid space, balancing catheter collision avoidance with contact points for the growing element. Across 200 model-based runs, anchor-only A* raised anchor-point percentage from 14.37% to 19.41%, but distance and actuation-node metrics were higher than plain A*. No robot or patient navigation was tested.
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