ICRA 2011 Paper Abstract

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Paper TuP1-InteracInterac.4

Chen, Haoyao (Harbin Institute of Technology Shenzhen Graduate School), Sun, Dong (City University of Hong Kong), Chen, Jian (City University of Hong Kong)

A Novel Allocation-Based Formation Algorithm for Swarm of Micro-Scaled Particles

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Path Planning for Multiple Mobile Robots or Agents, Micro and Nanoscale Automation, Automation in Life Sciences: Biotechnology, Pharmaceutical and Health Care

Abstract

This paper presents a novel formation framework for the manipulation of micro-scaled particles with robotics and optical tweezers technologies. An allocation-based formation algorithm is used to calculate particles’ trajectories. Along the trajectories, particles are trapped and moved by optical tweezers. Particles can be gradually moved into a pre-defined formation array. The main contribution of this paper lies in the proposal of using multi-agent solution to address the formation problem of particles in micro environment. The proposed framework can be applied to many bio-applications, such as cell sorting, cell transportation, cell-to-cell interaction study, etc., with high throughput and precision. Experiments on micro-scaled particles, with a robot-tweezer manipulation system, are performed to demonstrate the effectiveness of the proposed approach.

 

 

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