Control of the multi agent micro-robotic platform miCRoN

Panagiotis Vartholomeos; Savvas Loizou; Michael Thiel; Kostas Kyriakopoulos; Evangelos Papadopoulos

doi:10.1109/CACSD-CCA-ISIC.2006.4776849

Control of the multi agent micro-robotic platform miCRoN

Panagiotis Vartholomeos, Savvas Loizou, Michael Thiel, Kostas Kyriakopoulos, Evangelos Papadopoulos

Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper presents the theoretical framework for the centralized control architecture of the multi agent microrobotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the microscale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

Original language	English (US)
Pages	1414-1419
Number of pages	6
DOIs	https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4776849
State	Published - 2006
Event	2006 IEEE International Conference on Control Applications, CCA 2006 - Munich, Germany Duration: Oct 4 2006 → Oct 6 2006

Conference

Conference	2006 IEEE International Conference on Control Applications, CCA 2006
Country/Territory	Germany
City	Munich
Period	10/4/06 → 10/6/06

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
General Mathematics

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10.1109/CACSD-CCA-ISIC.2006.4776849

Cite this

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abstract = "This paper presents the theoretical framework for the centralized control architecture of the multi agent microrobotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the microscale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.",

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year = "2006",

doi = "10.1109/CACSD-CCA-ISIC.2006.4776849",

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note = "2006 IEEE International Conference on Control Applications, CCA 2006 ; Conference date: 04-10-2006 Through 06-10-2006",

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AU - Vartholomeos, Panagiotis

AU - Loizou, Savvas

AU - Thiel, Michael

AU - Kyriakopoulos, Kostas

AU - Papadopoulos, Evangelos

PY - 2006

Y1 - 2006

N2 - This paper presents the theoretical framework for the centralized control architecture of the multi agent microrobotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the microscale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

AB - This paper presents the theoretical framework for the centralized control architecture of the multi agent microrobotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the microscale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

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T2 - 2006 IEEE International Conference on Control Applications, CCA 2006

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Control of the multi agent micro-robotic platform miCRoN

Abstract

Conference

ASJC Scopus subject areas

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