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In order to navigate rugged, sloped, slippery, or, in general, challenging terrains, a robot needs to occasionally adapt its path plan in order to accommodate particular circumstances. Steep inclines are a prime example of situations where a non-shortest path plan can dramatically increase a mobile platform's ability to operate. In this paper, we present a path planning method that produces smooth curves that are longer than a straight line to the goal, but are designed to be optimal (not longer than necessary) for a given maximum inclination that the robot platform is capable of, while simultaneously taking into consideration the obstacles in the field.

Screening for cardiovascular disease in athletes is crucial to avoid life-threatening complications. Here, we present the case of a fairly asymptomatic young professional soccer player with several cardiovascular risk factors, who proved to have significant coronary artery disease on coronary computed tomography which was ordered based on clinical suspicion and his family history. Informed consent for publication was obtained from the patient.