Control of many robots moving in the same direction with different speeds: A decoupling approach

DeVon, David A.

doi:10.1109/acc.2009.5160686

Cited by 10 publications

(8 citation statements)

References 36 publications

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“…The authors have demonstrated limited independent control of two microrobots with a single global input. DeVon and Bretl [51] have developed a controller that is capable of moving multiple heterogenous Magmites towards a specific direction with different speeds.…”

Section: Multi-microrobot Control Using Magnetic Fieldsmentioning

confidence: 99%

Controlling multiple microrobots: recent progress and future challenges

2015

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Robots the size of several microns have numerous application in medicine, biology, and manufacturing. However, simultaneous control of multiple robots at this scale is difficult since the robot itself is too small to carry power, sensors, communication, and control on-board. In this paper, we have summarized different approaches, ranging from specialized robot design and fabrication to specialized ways of actuating robots, with the aim of independent control of a team/swarm of microrobots. We have also discussed the challenges for each approach. In the light of the challenges, we have proposed some directions where the future researchers can focus in order to solve the problem of independent control of a team of microrobots.

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Section: Multi-microrobot Control Using Magnetic Fieldsmentioning

confidence: 99%

Controlling multiple microrobots: recent progress and future challenges

2015

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“…By introducing non-uniformity in the robots, the authors managed to obtain the control of two different robots. DeVon and Bretl [63] have developed a controller for these microbots with carefully introduced heterogeneity that is able to move the robots in different speeds to the desired directions with same global input. However, an inherit coupling of the robot behavior still exists when exploiting homogeneity.…”

Section: Independently Controllable Microswarmsmentioning

confidence: 99%

Towards Functional Mobile Microrobotic Systems

et al. 2019

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This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks.

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“…To obtain independent control, there have been various approaches that introduce heterogeneity into the robots so that they can be affected by the same field in a significantly different fashion [37]- [39]. In this way, controllers can be developed that can control multiple robots somewhat independently of each other with the same global input [40]. Another approach is to utilize the influence zone of a particular magnetic coil and partition the workspace accordingly so that identical robots can be controlled by dedicated coils without affecting the others [41].…”

Section: A Related Workmentioning

confidence: 99%

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

et al. 2018

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In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal control synthesis method that constructs discrete plans for the robots that satisfy both the assigned tasks as well as proximity constraints between the robots due to the physics of the problem. Our proposed algorithm relies on an existing optimal control synthesis approach combined with a novel sampling-based technique to reduce the state-space of the product automaton that is associated with the LTL specifications. The synthesized discrete plans are executed by the microrobots independently using local magnetic fields. Simulation studies show that the proposed algorithm can address large-scale planning problems that cannot be solved using existing optimal control synthesis approaches. Moreover, we present experimental results that also illustrate the potential of our method in practice. To the best of our knowledge, this is the first control framework that allows independent control of teams of magnetic microrobots for temporal micromanipulation tasks.

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Control of many robots moving in the same direction with different speeds: A decoupling approach

Cited by 10 publications

References 36 publications

Controlling multiple microrobots: recent progress and future challenges

Controlling multiple microrobots: recent progress and future challenges

Towards Functional Mobile Microrobotic Systems

Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

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