This paper describes a novel and effective method for devising complex behaviours on a mobile robot that is considerably easier to implement than most existing robot control methods. Instead of designing multiple behaviours and a subsumption layer for selecting behaviours, this method provides the robot with only one behaviour (goal seeking) and produces more complex behaviours by altering the ...

Abstract Background Laparoscopic cholecystectomy is the gold standard treatment of gallstones in fit patients with symptomatic gallbladder disease. If critical view safety cannot be achieved intra-operatively, there are few options, one which laparoscopic subtotal cholecystectomy. This study aims to ascertain outcomes Methods Retrospective review all who underwent by a single surgeon over 5 yea...