Quiz2-PathPlanner

Path planning for continuum robots involves choosing a route that avoids delicate tissues, vital structures, and sharp bends inside the body

• True

• False

What does C_free represent?

• Set of all configurations that result in collisions

• Set of all configurations where the robot does not collide with any obstacle

• Set of all configurations in which the robot intersects obstacles

• The physical volume the robot can occupy

What does C_obs represent?

• The set of configurations where the robot collides with obstacles

• The set of configurations where the robot is free

• A set of safe paths

• The robot’s workspace

What does PRM stand for?

• Path-Replanning Method

• Probabilistic Roadmap

• Precomputed Robot Map

• Point-to-point Route Maker

Sampling-based planners (e.g., PRM, RRT) are useful because they do not require constructing a full grid of the space.

• True

• False

Grid-based planning methods (like A*) are guaranteed to find a path if one exists.

• True

• False

In the context of PRM, a roadmap is:

• A graph of collision-free configurations (nodes) and safe paths (edges)

• A set of grid cells covering the workspace

• A series of images of the anatomy

• A lookup table of actuator commands

Why is path planning particularly important for continuum robots in surgical applications?

Sampling-based planners are probabilistically complete, meaning the probability of finding a solution approaches 1 as computation time increases.

• True

• False