TY - GEN
T1 - Control of the multi agent micro-robotic platform MiCRoN
AU - Vartholomeos, Panagiotis
AU - Loizou, Savvas
AU - Thiel, Michael
AU - Kyriakopoulos, Kostas
AU - Papadopoulos, Evangelos
PY - 2007
Y1 - 2007
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 micro-scale. 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 micro-scale. 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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U2 - 10.1109/CCA.2006.286065
DO - 10.1109/CCA.2006.286065
M3 - Conference contribution
AN - SCOPUS:43049173394
SN - 0780397959
SN - 9780780397958
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1414
EP - 1419
BT - Proceedings of the 2006 IEEE International Conference on Control Applications
T2 - Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Y2 - 4 October 2006 through 6 October 2006
ER -