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Title: Control of the multi agent micro-robotic platform MiCRoN
Authors: Vartholomeos, Panagiotis
Thiel, Michael
Loizou, Savvas 
Keywords: Microrobots;Multiagent systems;Hardware;Micron Technology
Issue Date: 2007
Publisher: IEEE
Source: Proceedings of the IEEE International Conference on Control Applications, 2007, Pages 1414-1419
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 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.
ISBN: 0780397959
DOI: 10.1109/CACSD-CCA-ISIC.2006.4776849
Rights: © IEEE
Type: Book Chapter
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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