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In the field of autonomous mobile robots, sampling-based motion planning methods have demonstrated their efficiency in complex environments. Although the Rapidly-exploring Random Tree (RRT) algorithm and its variants have achieved significant success in known static environment, it is still challenging in achieving optimal motion planning in unknown dynamic environments. To address this issue, this paper proposes a novel motion planning algorithm Bi-HS-RRT X , which facilitates asymptotically optimal real-time planning in continuously changing unknown environments. The algorithm swiftly determines an initial feasible path by employing the bidirectional search. When dynamic obstacles render the planned path infeasible, the bidirectional search is reactivated promptly to reconstruct the search tree in a local area, thereby significantly reducing the search planning time. Additionally, this paper adopts a hybrid heuristic sampling strategy to optimize the planned path quality and search efficiency. The convergence of the proposed algorithm is accelerated by merging local biased sampling with nominal path and global heuristic sampling in hyper-ellipsoid region. To verify the effectiveness and efficiency of the proposed algorithm in unknown dynamic environments, numerous comparative experiments with existing algorithms were conducted. The experimental results indicate that the proposed planning algorithm has significant advantages in planned path length and planning time. [ABSTRACT FROM AUTHOR]

Abstract In the field of autonomous mobile robots, sampling-based motion planning methods have demonstrated their efficiency in complex environments. Although the Rapidly-exploring Random Tree (RRT) algorithm and its variants have achieved significant success in known static environment, it is still challenging in achieving optimal motion planning in unknown dynamic environments. To address this issue, this paper proposes a novel motion planning algorithm Bi-HS-RRT $$^\text {X}$$ X , which facilitates asymptotically optimal real-time planning in continuously changing unknown environments. The algorithm swiftly determines an initial feasible path by employing the bidirectional search. When dynamic obstacles render the planned path infeasible, the bidirectional search is reactivated promptly to reconstruct the search tree in a local area, thereby significantly reducing the search planning time. Additionally, this paper adopts a hybrid heuristic sampling strategy to optimize the planned path quality and search efficiency. The convergence of the proposed algorithm is accelerated by merging local biased sampling with nominal path and global heuristic sampling in hyper-ellipsoid region. To verify the effectiveness and efficiency of the proposed algorithm in unknown dynamic environments, numerous comparative experiments with existing algorithms were conducted. The experimental results indicate that the proposed planning algorithm has significant advantages in planned path length and planning time.

We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of incremental search algorithms with the evaluation efficiency of lazy search algorithms for fast replanning in problem domains where edge evaluations are more expensive than vertex expansions. The proposed algorithms generalize Lifelong Planning A* (LPA*) and its bounded suboptimal version, Truncated LPA* (TLPA*), within the Generalized Lazy Search (GLS) framework, so as to restrict expensive edge evaluations only to the current shortest subpath when the cost-to-come inconsistencies are propagated during repair. We also present dynamic versions of the L-GLS and B-LGLS algorithms, called Generalized D* (GD*) and Bounded Generalized D* (B-GD*), respectively, for efficient replanning with non-stationary queries, designed specifically for navigation of mobile robots. We prove that the proposed algorithms are complete and correct in finding a solution that is guaranteed not to exceed the optimal solution cost by a user-chosen factor. Our numerical and experimental results support the claim that the proposed integration of the incremental and lazy search frameworks can help find solutions faster compared to the regular incremental or regular lazy search algorithms when the underlying graph representation changes often. [ABSTRACT FROM AUTHOR]

Purpose: To investigate anatomical and dosimetric changes during volumetric modulated arc therapy (VMAT) in patients with locally advanced nasopharyngeal carcinoma (LA-NPC) after induction therapy (IT) and explore characteristics of patients with notable variations. Materials and methods: From July 2021 to June 2023, 60 LA-NPC patients undergoing VMAT after IT were retrospectively recruited. Adaptive computed tomography (aCT), reconstructed from weekly cone-beam computed tomography(CBCT), facilitates recontouring and planning transplantation. Volume, dice similarity coefficients, and dose to target volumes and organs at risk(OARs) on planning CT(pCT) and aCT were compared to identify changing patterns. Multivariate logistic regression was used to investigate risk factors. Results: The volumes of PGTVnasopharynx (PGTVp), PGTVnode (PGTVn), ipsilateral and contralateral parotid glands decreased during VMAT, with reductions of 2.25 %, 6.98 %, 20.09 % and 18.00 %, respectively, at 30 fractions from baseline (P

BACKGROUND: The study aimed to investigate anatomical changes in the neck region and evaluate their impact on dose distribution in patients with nasopharyngeal carcinoma (NPC) undergoing intensity modulated radiation therapy (IMRT). Additionally, the study sought to determine the optimal time for replanning during the course of treatment. METHODS: Twenty patients diagnosed with NPC underwent IMRT, with weekly pretreatment kV fan beam computed tomography (FBCT) scans in the treatment room. Metastasized lymph nodes in the neck region and organs at risk (OARs) were redelineation using the images from the FBCT scans. Subsequently, the original treatment plan (PLAN0) was replicated to each FBCT scan to generate new plans labeled as PLAN 1–6. The dose-volume histograms (DVH) of the new plans and the original plan were compared. One-way repeated measure ANOVA was utilized to establish threshold(s) at various time points. The presence of such threshold(s) would signify significant change(s), suggesting the need for replanning. RESULTS: Progressive volume reductions were observed over time in the neck region, the gross target volume for metastatic lymph nodes (GTVnd), as well as the submandibular glands and parotids. Compared to PLAN0, the mean dose (Dmean) of GTVnd-L significantly increased in PLAN5, while the minimum dose covering 95% of the volume (D95%) of PGTVnd-L showed a significant decrease from PLAN3 to PLAN6. Similarly, the Dmean of GTVnd-R significantly increased from PLAN4 to PLAN6, whereas the D95% of PGTVnd-R exhibited a significant decrease during the same period. Furthermore, the dose of bilateral parotid glands, bilateral submandibular glands, brainstem and spinal cord was gradually increased in the middle and late period of treatment. CONCLUSION: Significant anatomical and dosimetric changes were noted in both the target volumes and OARs. Considering the thresholds identified, it is imperative to undertake replanning at approximately 20 fractions. This measure ensures the delivery of adequate doses to target volumes while mitigating the risk of overdosing on OARs. [ABSTRACT FROM AUTHOR]

e article makes use of any archive documents to describe the architectural-urbanistic evolution of the city of Bălți in the period of time: the 19th century - the beginning of the 20th century. The first systematization project of the city of Bălţi was developed by the cadastral engineer K.A. Pomorţev in 1839 and approved by Tsar Nicholas I on February 9, 1845. After a devastating fire, in 1888, the systematization plan of the city of Bălţi was drawn up again. In 1894, the importance of Bălţi grew with the appearance of the railway station in the suburb of Slobozia, belonging to the Rezina-Ocniţa railway. As a result of the activities of the new authorities, the physiognomy of the Bessarabian cities is changing radically. The new “exemplary cities” are intended to demonstrate to the entire Balkan world the superiority of the way of life in the composition of the Russian Empire. There is, on the one hand, an undeniable urban development, and, on the other hand, a break with the historical past and the previous urban culture.

The replanning of London following the Second World War is, in many ways, a familiar story. However it has often been told in fragments, usually prioritizing the best-known plans and the involvement of Professor Patrick Abercrombie. This paper positions the replanning more widely, considering a hierarchy from region to specific locales, and the problems of fragmented planning within such a structure. It explores issues of agents, agency and authority. The sanitized and orderly vision of a new London is set against a more complex and disordered reality of reconstruction-plan production. The urgency, scale and complexity of the task, and questions of why should 'author' plans, are significant issues. The realities of postwar London have been shaped by a messy and misunderstood process. [ABSTRACT FROM AUTHOR]

Abstract Background Previous researches have demonstrated that adaptive replanning during intensity-modulated radiation therapy (IMRT) could enhance the prognosis of patients with nasopharyngeal carcinoma (NPC). However, the delineation of replanning target volumes remains unclear. This study aimed to evaluate the feasibility of reducing target volumes through adaptive replanning during IMRT by analyzing long-term survival outcomes and failure patterns of locoregional recurrence in NPC. Methods This study enrolled consecutive NPC patients who received IMRT at our hospital between August 2011 and April 2018. Patients with initially diagnosed, histologically verified, non-metastatic nasopharyngeal cancer were eligible for participation in this study. The location and extent of locoregional recurrences were transferred to pretreatment planning computed tomography for dosimetry analysis. Results Among 274 patients, 100 (36.5%) received IMRT without replanning and 174 (63.5%) received IMRT with replanning. Five-year rates of locoregional recurrence-free survival (LRFS) were 90.1% (95%CI, 84.8% to 95.4%) and 80.8% (95%CI, 72.0% to 89.6%) for patients with and without replanning, P = 0.045. There were 17 locoregional recurrences in 15 patients among patients with replanning, of which 1 (5.9%) was out-field and 16 (94.1%) were in-field. Among patients without replanning, 19 patients developed locoregional recurrences, of which 1 (5.3%) was out-field, 2 (10.5%) were marginal, and 16 (84.2%) were in-field. Conclusions In-field failure inside the high dose area was the most common locoregional recurrent pattern for non-metastatic NPC. Adapting the target volumes and modifying the radiation dose prescribed to the area of tumor reduction during IMRT was feasible and would not cause additional recurrence in the shrunken area.

This paper aims to provide insight into the stability of solutions to a multi-product maritime inventory routing problem (MIRP) when replanning due to the occurrence of unexpected events. The MIRP determines vessel routes while ensuring that port inventory levels remain within operational thresholds. In today's global economy, supply chains are often vast and complex. Managing inventory and routes for multiple products across international waters is a daunting task. The MIRP provides a framework for optimizing these complex supply chain networks. Four stability metrics are available to evaluate the stability of the adjusted plans. The problem is modeled using a goal programming approach to consider all stability metrics simultaneously. Then, 30 instances from the literature are solved using CPLEX. It is shown that there are significant differences when all stability metrics, as opposed to a single one, are considered simultaneously, which can lead to better agreement between the vendor and the retailer in decision making. A cost analysis is performed to examine the impact of the cost increase on the stability of the other metrics. The key finding is that when all stability metrics are considered simultaneously, a 5 % increase in cost can result in 7.5 % fewer changes to replanned solutions, while this rate is less than half when the stability metrics are considered individually. This highlights the significance of evaluating all metrics simultaneously instead of analyzing each metric separately.

Background: Previous researches have demonstrated that adaptive replanning during intensity-modulated radiation therapy (IMRT) could enhance the prognosis of patients with nasopharyngeal carcinoma (NPC). However, the delineation of replanning target volumes remains unclear. This study aimed to evaluate the feasibility of reducing target volumes through adaptive replanning during IMRT by analyzing long-term survival outcomes and failure patterns of locoregional recurrence in NPC. Methods: This study enrolled consecutive NPC patients who received IMRT at our hospital between August 2011 and April 2018. Patients with initially diagnosed, histologically verified, non-metastatic nasopharyngeal cancer were eligible for participation in this study. The location and extent of locoregional recurrences were transferred to pretreatment planning computed tomography for dosimetry analysis. Results: Among 274 patients, 100 (36.5%) received IMRT without replanning and 174 (63.5%) received IMRT with replanning. Five-year rates of locoregional recurrence-free survival (LRFS) were 90.1% (95%CI, 84.8% to 95.4%) and 80.8% (95%CI, 72.0% to 89.6%) for patients with and without replanning, P = 0.045. There were 17 locoregional recurrences in 15 patients among patients with replanning, of which 1 (5.9%) was out-field and 16 (94.1%) were in-field. Among patients without replanning, 19 patients developed locoregional recurrences, of which 1 (5.3%) was out-field, 2 (10.5%) were marginal, and 16 (84.2%) were in-field. Conclusions: In-field failure inside the high dose area was the most common locoregional recurrent pattern for non-metastatic NPC. Adapting the target volumes and modifying the radiation dose prescribed to the area of tumor reduction during IMRT was feasible and would not cause additional recurrence in the shrunken area. [ABSTRACT FROM AUTHOR]

Plan execution in dynamic environments can be affected by unexpected events leading to failures. Research on multi-agent planning area presents recovery strategies with replanning and repairing with evaluation based simply on average values. Thus, in this work, we propose a statistical method to evaluate plan recovery strategies in dynamic environments using a domain-independent approach. To validate the proposed method, we conducted simulated experiments with varying the number of agents, goals, actions, failure probability, and agents' coupling levels. The evaluation metrics include plan length and planning time. The results highlight with at least 94% certainty that repairing planning time is lower than replanning, and replanning builds plans with fewer actions than repairing. Considering plan recovery strategies in dynamic multi-agent environments, we demonstrate that repairing presents better results as it is faster, but replanning builds better plans as the final plan length is strongly correlated to failure occurrence. [ABSTRACT FROM AUTHOR]

Head and neck cancer (HNC) patients' anatomy may undergo significant changes during radiotherapy (RT). This potentially affects dose distribution and compromises conformity between planned and delivered dose. Adaptive radiotherapy (ART) is a promising technique to overcome this problem but requires a significant workload. This systematic review aims to estimate the clinical and dosimetric benefits of ART using prospective data. A search on PubMed and Web of Science according to the PRISMA guidelines was made on Feb 6, 2023. Search string used was: 'adaptive radiotherapy head neck cancer'. English language filter was applied. All studies were screened for inclusion on title and abstract, and the full text was read and discussed in the research group in case of uncertainty. Inclusion criteria were a prospective ART strategy for HNC investigating clinical or dosimetric outcomes. A total of 1251 articles were identified of which 15 met inclusion criteria. All included studies were published between 2010 and 2023 with a substantial diversity in design, endpoints, and nomenclature. The number of patients treated with ART was small with a median of 20 patients per study (range 4 to 86), undergoing 1-2 replannings. Mean dose to the parotid glands was reduced by 0.4-7.1 Gy. Maximum dose to the spinal cord was reduced by 0.5-4.6 Gy. Only five studies reported clinical outcome and disease control was excellent. Data on toxicity were ambiguous with some studies indicating reduced acute toxicity and xerostomia, while others found reduced quality of life in patients treated with ART. The literature on clinical ART in HNC is limited. ART is associated with small reductions in doses to organs at risk, but the influence on toxicity and disease control is uncertain. There is a clear need for larger, prospective trials with a well-defined control group. [ABSTRACT FROM AUTHOR]

Purpose: This study was conducted to determine the margins and timing of replanning by assessing the daily interfractional cervical and uterine motions using magnetic resonance (MR) images. Methods: Eleven patients with cervical cancer, who underwent intensity‐modulated radiotherapy (IMRT) in 23–25 fractions, were considered in this study. The daily and reference MR images were converted into three‐dimensional (3D) shape models. Patient‐specific anisotropic margins were calculated from the proximal 95% of vertices located outside the surface of the reference model. Population‐based margins were defined as the 90th percentile values of the patient‐specific margins. The expanded volume of interest (expVOI) for the cervix and uterus was generated by expanding the reference model based on the population‐based margin to calculate the coverage for daily deformable mesh models. For comparison, expVOIconv was generated using conventional margins: right (R), left (L), anterior (A), posterior (P), superior (S), and inferior (I) were (5, 5, 15, 15, 10, 10) and (10, 10, 20, 20, 15, 15) mm for the cervix and uterus, respectively. Subsequently, a replanning scenario was developed based on the cervical volume change. ExpVOIini and expVOIreplan were generated before and after replanning, respectively. Results: Population‐based margins were (R, L, A, P, S, I) of (7, 7, 11, 6, 11, 8) and (14, 13, 27, 19, 15, 21) mm for the cervix and uterus, respectively. The timing of replanning was found to be the 16th fraction, and the volume of expVOIreplan decreased by >30% compared to that of expVOIini. However, margins cannot be reduced to ensure equivalent coverage after replanning. Conclusion: We determined the margins and timing of replanning through detailed daily analysis. The margins of the cervix were smaller than conventional margins in some directions, while the margins of the uterus were larger in almost all directions. A margin equivalent to that at the initial planning was required for replanning. [ABSTRACT FROM AUTHOR]

This paper presents an AD*-based technique for fast, dynamically feasible path replanning for collision avoidance of anguilliform-inspired articulated mobile robots operating in the presence of both static and dynamic obstacles in underwater environments. Although a few past approaches have addressed the problem of the generation of dynamically feasible paths in the presence of static obstacles, to the best of our knowledge, path planning in the case of fish-inspired robots in the presence of dynamic obstacles has not been explored. We employ a lattice-based approach to generate dynamically feasible reachable nodes and, thereby, a search graph that captures the robot’s kinodynamic constraints and accounts for the interaction with surrounding fluid flow. We employ proximity sensors to sense the dynamic obstacles for replanning. Moreover, a simple vector-based time-to-collision and collision state prediction method has been proposed to adapt the problem to a graph-search approach. We found that the developed approach could avoid collision with dynamic obstacles moving at 1.5 times the robot’s speed, with a maximum success rate of around 78%. The average success rate obtained using the developed technique is 70%, which is more than the success rate obtained using D*-Lite for the examples reported in this paper. The developed approach can impart autonomy to fish-inspired robots operating in unstructured and cluttered environments. [ABSTRACT FROM AUTHOR]

Delivery reliability and customer satisfaction are critical for manufacturing companies that follow engineer-to-order manufacturing. Efficient production planning and scheduling is a vital requirement for flexible and prompt customer delivery. However, the uncertainty and volatility due to specific customer order requirements, production disturbances, and demand and product volume fluctuations result in frequent replanning or rescheduling of the production plans or schedules in engineer-to-order manufacturing. From a theoretical perspective, this article provides an overview of the strategies and solutions to enhance production planning and scheduling in engineer-to-order manufacturing through a literature study. From an empirical perspective, the article provides results from two industrial case studies where digital tools or digitalization were used to facilitate replanning or rescheduling and thereby attain flexibility and resilience in production planning and scheduling in engineer-to-order manufacturing. [ABSTRACT FROM AUTHOR]

Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored in this article. To address obstacle avoidance problems, a multiple-query and sampling-based motion replanning algorithm with the dynamic bias-goal factor, rapidly exploring random tree (DBG-RRT), is proposed to achieve a rapid response and a high success rate. Differently from other studies on path planning, a relay-node method is adopted on the basis of motion planning to generate a new collision-free trajectory. Subsequently, an un-interrupt strategy is embraced to judge whether the generated trajectory would be interfered with by dynamic obstacles. In the end, the DBG-RRT algorithm is applied, and the results demonstrate its effectiveness for manipulator motion planning in a dynamic environment. [ABSTRACT FROM AUTHOR]

Learning should not be stymied irrespective of any disruptions but was learning not hampered during this seismic shift occasioned by Coronavirus pandemic? The paper discusses i) the impact of COVID-19 on education; ii) the need to promote and meet the learning needs of students and teachers during emergencies iii) learning alternatives as mitigations in emergencies to meet learners’ needs; and iv) who should partake in the mitigation-contingency plan process. The study concluded that COVID-19 pandemic has provided opportunities not only to reconsider educational objectives and interrelatedness between education and society but also to rethink and replan the structure and workings of educational system for emergencies in the future.

Planning Perspectives has published a substantial body of papers on a wide range of aspects of post-catastrophe replanning and rebuilding, with a particular focus on the catastrophe of the Second World War. This brief overview identifies these papers, assesses their contribution to this still-developing field, and suggests an agenda for future research. [ABSTRACT FROM AUTHOR]

Purpose: To investigate anatomical and dosimetric changes during volumetric modulated arc therapy (VMAT) in patients with locally advanced nasopharyngeal carcinoma (LA-NPC) after induction therapy (IT) and explore characteristics of patients with notable variations., Materials and Methods: From July 2021 to June 2023, 60 LA-NPC patients undergoing VMAT after IT were retrospectively recruited. Adaptive computed tomography (aCT), reconstructed from weekly cone-beam computed tomography(CBCT), facilitates recontouring and planning transplantation. Volume, dice similarity coefficients, and dose to target volumes and organs at risk(OARs) on planning CT(pCT) and aCT were compared to identify changing patterns. Multivariate logistic regression was used to investigate risk factors., Results: The volumes of PGTVnasopharynx (PGTVp), PGTVnode (PGTVn), ipsilateral and contralateral parotid glands decreased during VMAT, with reductions of 2.25 %, 6.98 %, 20.09 % and 18.00 %, respectively, at 30 fractions from baseline (P < 0.001). After 25 fractions, D99 and D95 of PGTVn decreased by 7.94 % and 4.18 % from baseline, respectively, while the Dmean of ipsilateral and contralateral parotid glands increased by 7.80 % and 6.50 %, marking the peak rates of dosimetric variations (P < 0.001). The dosimetric fluctuations in PGTVp, the brainstem, and the spinal cord remained within acceptable limits. Furthermore, an initial BMI ≥ 23.5 kg/m 2 and not-achieving objective response (OR) after IT were regarded as risk factors for a remarkable PGTVn dose reduction in the later stages of VMAT., Conclusions: Replanning for post-IT LA-NPC patients appears reasonable at 25F during VMAT. Patients with an initial BMI ≥ 23.5 kg/m 2 and not-achieving OR after IT should be considered for adaptive radiation therapy to stabilize the delivered dose., Competing Interests: The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (© 2024 Published by Elsevier B.V. on behalf of European Society for Radiotherapy and Oncology.)

Purpose: To determine the dosimetric impact of using unedited autocontours in daily plan adaptation of patients with locally advanced pancreatic cancer (LAPC) treated with stereotactic body radiotherapy using tumor tracking. Materials and Methods: The study included 98 daily CT scans of 35 LAPC patients. All scans were manually contoured (MAN), and included the PTV and main organs-at-risk (OAR): stomach, duodenum and bowel. Precision and MIM deformable image registration (DIR) methods followed by contour propagation were used to generate autocontour sets on the daily CT scans. Autocontours remained unedited, and were compared to MAN on the whole organs and at 3, 1 and 0.5 cm from the PTV. Manual and autocontoured OAR were used to generate daily plans using the VOLO™ optimizer, and were compared to non-adapted plans. Resulting planned doses were compared based on PTV coverage and OAR dose-constraints. Results: Overall, both algorithms reported a high agreement between unclipped MAN and autocontours, but showed worse results when being evaluated on the clipped structures at 1 cm and 0.5 cm from the PTV. Replanning with unedited autocontours resulted in better OAR sparing than non-adapted plans for 95% and 84% plans optimized using Precision and MIM autocontours, respectively, and obeyed OAR constraints in 64% and 56% of replans. Conclusion: For the majority of fractions, manual correction of autocontours could be avoided or be limited to the region closest to the PTV. This practice could further reduce the overall timings of adaptive radiotherapy workflows for patients with LAPC. [ABSTRACT FROM AUTHOR]

PurposeTo determine the dosimetric impact of using unedited autocontours in daily plan adaptation of patients with locally advanced pancreatic cancer (LAPC) treated with stereotactic body radiotherapy using tumor tracking.Materials and MethodsThe study included 98 daily CT scans of 35 LAPC patients. All scans were manually contoured (MAN), and included the PTV and main organs-at-risk (OAR): stomach, duodenum and bowel. Precision and MIM deformable image registration (DIR) methods followed by contour propagation were used to generate autocontour sets on the daily CT scans. Autocontours remained unedited, and were compared to MAN on the whole organs and at 3, 1 and 0.5 cm from the PTV. Manual and autocontoured OAR were used to generate daily plans using the VOLO™ optimizer, and were compared to non-adapted plans. Resulting planned doses were compared based on PTV coverage and OAR dose-constraints.ResultsOverall, both algorithms reported a high agreement between unclipped MAN and autocontours, but showed worse results when being evaluated on the clipped structures at 1 cm and 0.5 cm from the PTV. Replanning with unedited autocontours resulted in better OAR sparing than non-adapted plans for 95% and 84% plans optimized using Precision and MIM autocontours, respectively, and obeyed OAR constraints in 64% and 56% of replans.ConclusionFor the majority of fractions, manual correction of autocontours could be avoided or be limited to the region closest to the PTV. This practice could further reduce the overall timings of adaptive radiotherapy workflows for patients with LAPC.

Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored in this article. To address obstacle avoidance problems, a multiple-query and sampling-based motion replanning algorithm with the dynamic bias-goal factor, rapidly exploring random tree (DBG-RRT), is proposed to achieve a rapid response and a high success rate. Differently from other studies on path planning, a relay-node method is adopted on the basis of motion planning to generate a new collision-free trajectory. Subsequently, an un-interrupt strategy is embraced to judge whether the generated trajectory would be interfered with by dynamic obstacles. In the end, the DBG-RRT algorithm is applied, and the results demonstrate its effectiveness for manipulator motion planning in a dynamic environment.

No clear criteria have yet been established to guide decision-making for patient selection and the optimal timing of adaptive radiotherapy (ART) based on image-guided radiotherapy (IGRT). We have developed a novel protocol—the Best for Adaptive Radiotherapy (B-ART) protocol—to guide patient selection for ART. The aim of the present study is to describe this protocol, to evaluate its validity in patients with head and neck (HN) cancer, and to identify the anatomical and clinical predictors of the need for replanning. We retrospectively evaluated 82 patients with HN cancer who underwent helical tomotherapy (HT) and subsequently required replanning due to soft tissue changes upon daily MVCT. Under the proposed criteria, patients with anatomical changes >3 mm on three to four consecutive scans are candidates for ART. We compared the volumes on the initial CT scan (iCT) and the replanning CT (rCT) scan for the clinical target volumes (CTV1, referring to primary tumor or tumor bed and CTV2, metastatic lymph nodes) and for the parotid glands (PG) and body contour (B-body). The patients were stratified by primary tumor localization, clinical stage, and treatment scheme. The main reasons for replanning were: (1) a planning target volume (PTV) outside the body contour (n = 70; 85.4%), (2) PG shrinkage (n = 69; 84.1%), (3) B-body deviations (n = 69; 84.1%), and (4) setup deviations (n = 40; 48.8%). The replanning decision was made, on average, during the fourth week of treatment (n = 47; 57.3%). The mean reductions in the size of the right and left PG volumes were 6.31 cc (20.9%) and 5.98 cc (20.5%), respectively (p < 0.001). The reduction in PG volume was ≥30% in 30 patients (36.6%). The volume reduction in all of the anatomical structures was statistically significant. Four variables—advanced stage disease (T3–T4), chemoradiation, increased weight loss, and oropharyngeal localization—were significantly associated with the need for ART. The B-ART protocol provides clear criteria to eliminate random errors, and to allow for an early response to relevant changes in target volumes. [ABSTRACT FROM AUTHOR]

A dosimetric study was performed to show the importance of adaptive radiotherapy (ART) for head and neck cancer (HNC) patients using volumetric modulated arc therapy (VMAT). A total of 13 patients with HNC who required replanning during radiotherapy were included in this study. All plans succeeded to achieve the set objectives regarding target volume coverage and organ sparing. All target volumes presented a significant decrease with an average of 76.44 cm3 (p = 0.007) for PTVlow risk, 102.81 cm3 (p = 0.021) for PTVintermediate risk, and 47.10 cm3 (p = 0.003) for PTVhigh risk. Additionally, a positive correlation was found between PTV shrinkage and the number of fractions completed before replanning. Significant volume decrease was also observed for the parotid glands. The ipsilateral parotid decreased in volume by a mean of 3.75 cm3 (14.43%) (p = 0.067), while the contralateral decreased by 4.23 cm3 (13.23%) (p = 0.033). For all analyzed organs, a reduction in the final dose received after replanning was found. Our study showed that ART via rescanning, recontouring, and replanning using VMAT is essential whenever anatomical and positional variations occur. Furthermore, comparison with the literature has confirmed that ART using VMAT offers similar results to ART with intensity modulated radiotherapy. [ABSTRACT FROM AUTHOR]

• IMRT with replanning significantly improved 8-year local–regional recurrence-free survival rate. • IMRT with replanning did not improve 8-year distant metastasis-free survival and overall survival rate. • Replanning during IMRT had a favorable impact on the late toxicities and long-term quality of life. Recent studies show that adaptive replanning for patients with nasopharyngeal carcinoma (NPC) during intensity-modulated radiation therapy (IMRT) improve the short-term local–regional recurrence-free survival (LRFS), and quality of life (QoL). We aimed to assess the long-term survival outcomes and QoL in patients with non-metastatic NPC who received IMRT with replanning compared to those who received IMRT without replanning. We conducted an updated and expanded retrospective analysis from an existing prospective cohort for non-metastatic NPC patients undergoing IMRT in our institution. Non-metastatic NPC patients receiving IMRT from June 2007 to December 2015 were consecutively enrolled based on electronic medical record. Patients who were still alive were eligible for the QoL study. The survival outcomes and QoL were compared between patients with and without replanning. Among 290 patients, 147 (50.7%) received IMRT without replanning and 143 (49.3%) received IMRT with replanning. Replanning group had a higher 8-year LRFS rate (87.4% vs. 75.6%, P = 0.025). However, 8-year overall survival rate was not statistically significant. Patients with replanning compared to those who without replanning had significant improvements in social functioning (P = 0.016), insomnia (P = 0.048), dry mouth (P = 0.004), and sticky saliva (P = 0.005). Additionally, the score of the role functioning was marginally higher in patients treated with IMRT replanning (P = 0.063). This extended follow-up study demonstrates the long-term security and validity for adaptive radiotherapy in IMRT for non-metastatic NPC patients. We highly recommend that adaptive replanning should be routinely implemented for non-metastatic NPC patients. [ABSTRACT FROM AUTHOR]

With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. To avoid the collisions between the links and obstacles and the collisions of the links themselves, a constraint-relaxed links collision avoidance method is developed by solving a quadratic programming problem. Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time with a higher success rate. Detailed simulation comparison experiments, as well as real-world experiments, are reported to verify the effectiveness of our method. [ABSTRACT FROM AUTHOR]

Intelligence in its decisions is a trait that people have grown to expect from a cyber−physical system, in particular that it makes the right choices at runtime, that is, those that allow it to fulfill its tasks, even in case of faults or unexpected interactions with its environment. Analyzing how to continuously achieve the currently desired (and possibly continuously changing) goals and adapting its behavior to reach these goals is undoubtedly a serious challenge. This becomes even more challenging if the atomic actions a system can implement become unreliable due to faulty components or some exogenous event out of its control. Herein, a solution for the presented challenge is proposed. In particular, it is shown how to adopt a lightweight diagnosis concept to cope with such situations. The approach is based on rules coupled with means for rule selection that is based on previous information regarding success or failure of rule executions. Furthermore, Java‐based framework of the lightweight diagnosis concept is presented, and the results obtained from an experimental evaluation considering several application scenarios are discussed. At the end, a qualitative comparison with other related approaches that should help the readers decide which approach works best for them is presented. An interactive preprint version of the article can be found here: https://www.authorea.com/doi/full/10.22541/au.163578445.51350502. [ABSTRACT FROM AUTHOR]

Intelligence in its decisions is a trait that people have grown to expect from a cyber−physical system, in particular that it makes the right choices at runtime, that is, those that allow it to fulfill its tasks, even in case of faults or unexpected interactions with its environment. Analyzing how to continuously achieve the currently desired (and possibly continuously changing) goals and adapting its behavior to reach these goals is undoubtedly a serious challenge. This becomes even more challenging if the atomic actions a system can implement become unreliable due to faulty components or some exogenous event out of its control. Herein, a solution for the presented challenge is proposed. In particular, it is shown how to adopt a lightweight diagnosis concept to cope with such situations. The approach is based on rules coupled with means for rule selection that is based on previous information regarding success or failure of rule executions. Furthermore, Java‐based framework of the lightweight diagnosis concept is presented, and the results obtained from an experimental evaluation considering several application scenarios are discussed. At the end, a qualitative comparison with other related approaches that should help the readers decide which approach works best for them is presented. An interactive preprint version of the article can be found here: https://www.authorea.com/doi/full/10.22541/au.163578445.51350502.

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Classical neuropsychological assessments are designed to explore cognitive brain functions using paper-and-pencil or digital tests. The purpose of this study was to design and to test a new protocol named the "Virtual House Locomotor Maze" (VHLM) for studying inhibitory control as well as mental flexibility using a visuo-spatial locomotor memory test. The VHLM is a simple maze including six houses using the technology of the Virtual Carpet Paradigm ™. Ten typical development children (TD) were enrolled in this study. The participants were instructed to reach a target house as quickly as possible and to bear in mind the experimental instructions. We examined their planning and replanning abilities to take the shortest path to reach a target house. In order to study the cognitive processes during navigation, we implemented a spatio-temporal index based on the measure of kinematics behaviors (i.e., trajectories, tangential velocity and head direction). Replanning was tested by first repeating a path chosen by the subject to reach a given house. After learning this path, it was blocked imposing that the subject inhibited the learned trajectory and designed a new trajectory to reach the same house. We measured the latency of the departure after the presentation of each house and the initial direction of the trajectory. The results suggest that several strategies are used by the subjects for replanning and our measures could be used as an index of impulsivity. [ABSTRACT FROM AUTHOR]

Classical neuropsychological assessments are designed to explore cognitive brain functions using paper-and-pencil or digital tests. The purpose of this study was to design and to test a new protocol named the “Virtual House Locomotor Maze” (VHLM) for studying inhibitory control as well as mental flexibility using a visuo-spatial locomotor memory test. The VHLM is a simple maze including six houses using the technology of the Virtual Carpet Paradigm™. Ten typical development children (TD) were enrolled in this study. The participants were instructed to reach a target house as quickly as possible and to bear in mind the experimental instructions. We examined their planning and replanning abilities to take the shortest path to reach a target house. In order to study the cognitive processes during navigation, we implemented a spatio-temporal index based on the measure of kinematics behaviors (i.e., trajectories, tangential velocity and head direction). Replanning was tested by first repeating a path chosen by the subject to reach a given house. After learning this path, it was blocked imposing that the subject inhibited the learned trajectory and designed a new trajectory to reach the same house. We measured the latency of the departure after the presentation of each house and the initial direction of the trajectory. The results suggest that several strategies are used by the subjects for replanning and our measures could be used as an index of impulsivity.

In this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexpected obstacles, our method modifies the global trajectory using geometrical planning and closed-form formulation for an analytical solution with 9th-order polynomial. The proposed method provides an analytical solution, not a numerical one, and it is computationally efficient without falling into a local minima problem. In a simulation, we show that the proposed method can fly a quadrotor faster than the numerical method in a cluttered environment. Furthermore, we show in experiments that the proposed method can provide safer and faster trajectory generation than the numerical method in a real environment. [ABSTRACT FROM AUTHOR]

No clear criteria have yet been established to guide decision-making for patient selection and the optimal timing of adaptive radiotherapy (ART) based on image-guided radiotherapy (IGRT). We have developed a novel protocol—the Best for Adaptive Radiotherapy (B-ART) protocol—to guide patient selection for ART. The aim of the present study is to describe this protocol, to evaluate its validity in patients with head and neck (HN) cancer, and to identify the anatomical and clinical predictors of the need for replanning. We retrospectively evaluated 82 patients with HN cancer who underwent helical tomotherapy (HT) and subsequently required replanning due to soft tissue changes upon daily MVCT. Under the proposed criteria, patients with anatomical changes >3 mm on three to four consecutive scans are candidates for ART. We compared the volumes on the initial CT scan (iCT) and the replanning CT (rCT) scan for the clinical target volumes (CTV1, referring to primary tumor or tumor bed and CTV2, metastatic lymph nodes) and for the parotid glands (PG) and body contour (B-body). The patients were stratified by primary tumor localization, clinical stage, and treatment scheme. The main reasons for replanning were: (1) a planning target volume (PTV) outside the body contour (n = 70; 85.4%), (2) PG shrinkage (n = 69; 84.1%), (3) B-body deviations (n = 69; 84.1%), and (4) setup deviations (n = 40; 48.8%). The replanning decision was made, on average, during the fourth week of treatment (n = 47; 57.3%). The mean reductions in the size of the right and left PG volumes were 6.31 cc (20.9%) and 5.98 cc (20.5%), respectively (p < 0.001). The reduction in PG volume was ≥30% in 30 patients (36.6%). The volume reduction in all of the anatomical structures was statistically significant. Four variables—advanced stage disease (T3–T4), chemoradiation, increased weight loss, and oropharyngeal localization—were significantly associated with the need for ART. The B-ART protocol provides clear criteria to eliminate random errors, and to allow for an early response to relevant changes in target volumes.

With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. To avoid the collisions between the links and obstacles and the collisions of the links themselves, a constraint-relaxed links collision avoidance method is developed by solving a quadratic programming problem. Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time with a higher success rate. Detailed simulation comparison experiments, as well as real-world experiments, are reported to verify the effectiveness of our method.

Autonomous driving helps drivers avoid paying attention to keeping to a lane or keeping a distance from the vehicle ahead. However, the autonomous driving is limited by the need to park upon the completion of driving. In this sense, automated valet parking (AVP) system is one of the promising technologies for enabling drivers to free themselves from the burden of parking. Nevertheless, the driver must continuously monitor the automated system in the current automation level. The main reason for monitoring the automation system is due to the limited sensor range and occlusions. For safety reasons, the current field of view must be taken into account, as well as to ensure comfort and to avoid unexpected and harsh reactions. Unfortunately, due to parked vehicles and structures, the field of view in a parking lot is not sufficient for considering new obstacles coming out of occluded areas. To solve this problem, we propose a method that estimates the risks for unobservable obstacles by considering worst-case assumptions. With this method, we can ensure to not act overcautiously while moving safe. As a result, the proposed method can be a proactive approach to consider the limited visibility encountered in a parking lot. In the proposed method, occlusion can be efficiently reflected in the planning process. The potential of the proposed method is evaluated in a variety of simulations. [ABSTRACT FROM AUTHOR]

Purpose and ObjectiveA proportion of patients receiving radiotherapy for head and neck squamous cell carcinoma (HNSCC) require ad hoc treatment re-planning. The aim of this retrospective study is to analyze the patients who required ad hoc re-planning and to identify factors, which may predict need for re-planning.Materials and MethodsA single center evaluation of all patients receiving radical or adjuvant (chemo)radiotherapy (CRT) for HNSCC between January and December 2016 was undertaken. Patients who underwent ad hoc re-planning during the treatment were identified in electronic records. Reasons for re-planning were categorized as: weight loss, tumor shrinkage, changes in patient position and immobilization-related factors. Potential trigger factors for adaptive radiotherapy such as patient characteristics, primary tumor site, stage, concomitant chemotherapy, weight loss ratios, radical/adjuvant treatment, and nutritional interventions were investigated.Results31/290 (10.6%) HNSCC patients who underwent radical/adjuvant radiotherapy required re-planning. The adaptive radiotherapy (ART) was performed at a mean fraction of 15. The most common documented reasons for re-planning were tumor shrinkage (35.5%) and weight loss (35.5%). Among the patient/tumor/treatment factors, nasopharyngeal primary site (p = 0.013) and use of concurrent chemotherapy with radiotherapy (p = 0.034) were found to be significantly correlated with the need for re-planning.ConclusionEffective on-treatment verification schedules and close follow up of patients especially with NPC primary and/or treated with concurrent chemoradiotherapy are crucial to identify patients requiring ART. We suggest an individualized triggered approach to ART rather than scheduled strategies as it is likely to be more feasible in terms of utilization of workload and resources.

Abstract As the number of satellite emergency imaging tasks grows, the main goal of satellites becomes putting forward solutions and meeting users’ demands in a relatively short time. This study aims to investigate the problem of emergency task planning for agile satellites. Through the analysis of the problem and its constraints, a model of emergency task autonomous planning was implemented. According to the characteristics of emergency tasks, a strategy to deal with the tasks of different emergency levels and various quantities was proposed. We put forward three algorithms for quick insertion of emergency tasks, i.e., emergency task insertion algorithm (ETIA), general emergency task insertion algorithm (GETIA), and general emergency task planning &insertion algorithm (GETPIA). The experimental result showed that the strategy and algorithms can not only respond quickly to observation tasks but also produce effective planning programs to ensure the successful completion of observation tasks.

Purpose and Objective: A proportion of patients receiving radiotherapy for head and neck squamous cell carcinoma (HNSCC) require ad hoc treatment re-planning. The aim of this retrospective study is to analyze the patients who required ad hoc re-planning and to identify factors, which may predict need for re-planning. Materials and Methods: A single center evaluation of all patients receiving radical or adjuvant (chemo)radiotherapy (CRT) for HNSCC between January and December 2016 was undertaken. Patients who underwent ad hoc re-planning during the treatment were identified in electronic records. Reasons for re-planning were categorized as: weight loss, tumor shrinkage, changes in patient position and immobilization-related factors. Potential trigger factors for adaptive radiotherapy such as patient characteristics, primary tumor site, stage, concomitant chemotherapy, weight loss ratios, radical/adjuvant treatment, and nutritional interventions were investigated. Results: 31/290 (10.6%) HNSCC patients who underwent radical/adjuvant radiotherapy required re-planning. The adaptive radiotherapy (ART) was performed at a mean fraction of 15. The most common documented reasons for re-planning were tumor shrinkage (35.5%) and weight loss (35.5%). Among the patient/tumor/treatment factors, nasopharyngeal primary site (p = 0.013) and use of concurrent chemotherapy with radiotherapy (p = 0.034) were found to be significantly correlated with the need for re-planning. Conclusion: Effective on-treatment verification schedules and close follow up of patients especially with NPC primary and/or treated with concurrent chemoradiotherapy are crucial to identify patients requiring ART. We suggest an individualized triggered approach to ART rather than scheduled strategies as it is likely to be more feasible in terms of utilization of workload and resources. [ABSTRACT FROM AUTHOR]

Background: Radiotherapy in head-and-neck cancer (HNC) is a challenging task, and the anatomical alterations occurring during the course of intensity-modulated radiotherapy (IMRT) can be compensated by adaptive radiotherapy (ART) which utilizes repeat computed tomography (CT) scans during the treatment course for replanning. In this study, the clinical and dosimetric benefits of ART were compared with the conventional IMRT.Materials and Methods: Sixty patients with locally advanced HNC were randomized into two arms to receive IMRT up to a curative dose of 70 Gy with concurrent weekly chemotherapy and were prospectively analyzed between March 2018 and March 2019. Repeat CT scan was acquired after the 3rd week of radiation. Patients in the study arm underwent replanning, whereas those in the control arm continued with the first IMRT plan. Assessment was done weekly till the end of treatment and at 1, 3, and 6 months post IMRT for disease response and toxicities. Tumor volume reduction rate (TVRR) and dose reduction to organs at risk were also recorded.Results: Complete response was observed in 90% and 96.7% patients in the control and study arms, respectively, at the end of 6 months. Insignificant differences were found between the two arms in terms of toxicities. Xerostomia was statistically significantly higher in the control arm at 6 months (P = 0.01). TVRR was found to be 31.85%. Dose to spinal cord, ipsilateral, and contralateral parotid reduced by 4.3%, 6%, and 2.2%, respectively, with ART.Conclusion: Mid-treatment adaptive replanning can help in better target coverage and minimize toxicities in HNC patients. [ABSTRACT FROM AUTHOR]

Parotid gland (PG) shrinkage and neck volume reduction during radiotherapy of head and neck (H&N) cancer patients is a clinical issue that has prompted interest in adaptive radiotherapy (ART). This study focuses on the difference between planned dose and delivered dose and the possible effects of an efficient replanning strategy during the course of treatment. Six patients with H&N cancer treated by tomotherapy were retrospectively enrolled. Thirty daily dose distributions (D MVCT) were calculated on pretreatment megavoltage computed tomography (MVCT) scans. Deformable Image Registration which matched daily MVCT with treatment planning kilovoltage computed tomography was performed. Using the resulting deformation vector field, all daily D MVCT were deformed to the planning kilovoltage computed tomography and resulting doses were accumulated voxel per voxel. Cumulative D MVCT was compared to planned dose distribution performing γ-analysis (2 mm, 2% of 2.2 Gy). Two single-intervention ART strategies were executed on the 18th fraction whose previous data had suggested to be a suitable timepoint for a single replanning intervention: (1) replanning on the original target and deformed organ at risks (OARs) (a "safer" approach regarding tumor coverage) and (2) replanning on both deformed target and deformed OARs. D MVCT showed differences between planned and delivered doses (3D-γ 2mm/2%-passing rate = 85 ± 1%, p < 0.001). Voxel by voxel dose accumulation showed an increase in average dose of warped PG of 3.0 Gy ± 3.3 Gy. With ART the average dose of warped PG decreased by 3.2 Gy ± 1.7 Gy in comparison to delivered dose without replanning when both target and OARs were deformed. Average dose of warped PG decreased by 2.0 Gy ± 1.4 Gy when only OARs were deformed. Anatomical variations lead to increased doses to PGs. Efficient single-intervention ART-strategies with replanning on the 18th MVCT result a reduced PG dose. A strategy with deformation of both target and OAR resulted in the lowest PG dose, while formally maintaining PTV coverage. Deformation of only OAR nevertheless reduces PG dose and has less uncertainties regarding PTV coverage. [ABSTRACT FROM AUTHOR]

Planning of collision-free trajectory for robot motion under hard constraints and unpredictable environment is a difficult issue. To cope with this problem, this paper presents a novel replanning method based on receding horizon control and asymptotically optimal single-query motion planning. The approach, called the horizon-based lazy optimal rapidly-exploring random tree algorithm, enables real-time replanning in both static and dynamic environment with updated information. Previous feasible solutions are fully considered to generate new plans. Contributions include lazy steering and lazy collision checking search tree, forward tree pruning and sampling distribution online learning. The techniques are proven to be efficient, near optimal and fast responsive to change. Moreover, three experiments are performed to test the properties of the proposed algorithm numerically. [ABSTRACT FROM AUTHOR]