Steering Micro-Robotic Swarm by Dynamic Actuating Fields

Q. Chao; J Yu; C. Dai; T Xu; L. Zhang; Charlie Wang; X. Jin

doi:10.1109/ICRA.2016.7487731

Steering Micro-Robotic Swarm by Dynamic Actuating Fields

Q. Chao, J Yu, C. Dai, T Xu, L. Zhang, Charlie Wang, X. Jin

Materials and Manufacturing

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (SciVal)

72 Downloads (Pure)

Abstract

We present a general solution for steering microrobotic
swarm by dynamic actuating fields. In our approach, the
motion of micro-robots is controlled by changing the actuating
direction of a field applied to them. The time-series sequence
of actuating field’s directions can be computed automatically.
Given a target position in the domain of swarm, a governing
field is first constructed to provide optimal moving directions at
every points. Following these directions, a robot can be driven
to the target efficiently. However, when working with a crowd of
micro-robots, the optimal moving directions on different agents
can contradict with each other. To overcome this difficulty, we
develop a novel steering algorithm to compute a statistically
optimal actuating direction at each time frame. Following a
sequence of these actuating directions, a crowd of micro-robots
can be transported to the target region effectively. Our steering
strategy of swarm has been verified on a platform that generates
magnetic fields with unique actuating directions. Experimental
tests taken on aggregated magnetic micro-particles are quite
encouraging.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Automation
Place of Publication	Piscataway
Publisher	IEEE
Pages	5230-5235
Number of pages	6
ISBN (Electronic)	978-1-4673-8026-3
ISBN (Print)	978-1-4673-8025-6
DOIs	https://doi.org/10.1109/ICRA.2016.7487731
Publication status	Published - 2016
Event	IEEE International Conference on Robotics and Automation (ICRA 2016) - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016

Conference

Conference	IEEE International Conference on Robotics and Automation (ICRA 2016)
Country/Territory	Sweden
City	Stockholm
Period	16/05/16 → 21/05/16

Bibliographical note

Author accepted manuscript

Keywords

microrobots
mobile robots
motion control
multi-robot systems
position control
time series

Access to Document

10.1109/ICRA.2016.7487731

nieuwICRA16_0673_FIAccepted author manuscript, 1.86 MB

Cite this

@inproceedings{37c4a76b5bcb45e598bbe0095cf50748,

title = "Steering Micro-Robotic Swarm by Dynamic Actuating Fields",

abstract = "We present a general solution for steering microroboticswarm by dynamic actuating fields. In our approach, themotion of micro-robots is controlled by changing the actuatingdirection of a field applied to them. The time-series sequenceof actuating field{\textquoteright}s directions can be computed automatically.Given a target position in the domain of swarm, a governingfield is first constructed to provide optimal moving directions atevery points. Following these directions, a robot can be drivento the target efficiently. However, when working with a crowd ofmicro-robots, the optimal moving directions on different agentscan contradict with each other. To overcome this difficulty, wedevelop a novel steering algorithm to compute a statisticallyoptimal actuating direction at each time frame. Following asequence of these actuating directions, a crowd of micro-robotscan be transported to the target region effectively. Our steeringstrategy of swarm has been verified on a platform that generatesmagnetic fields with unique actuating directions. Experimentaltests taken on aggregated magnetic micro-particles are quiteencouraging.",

keywords = "microrobots, mobile robots, motion control, multi-robot systems, position control, time series",

author = "Q. Chao and J Yu and C. Dai and T Xu and L. Zhang and Charlie Wang and X. Jin",

note = "Author accepted manuscript; IEEE International Conference on Robotics and Automation (ICRA 2016) ; Conference date: 16-05-2016 Through 21-05-2016",

year = "2016",

doi = "10.1109/ICRA.2016.7487731",

language = "English",

isbn = "978-1-4673-8025-6",

pages = "5230--5235",

booktitle = "2016 IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

address = "United States",

}

TY - GEN

T1 - Steering Micro-Robotic Swarm by Dynamic Actuating Fields

AU - Chao, Q.

AU - Yu, J

AU - Dai, C.

AU - Xu, T

AU - Zhang, L.

AU - Wang, Charlie

AU - Jin, X.

N1 - Author accepted manuscript

PY - 2016

Y1 - 2016

N2 - We present a general solution for steering microroboticswarm by dynamic actuating fields. In our approach, themotion of micro-robots is controlled by changing the actuatingdirection of a field applied to them. The time-series sequenceof actuating field’s directions can be computed automatically.Given a target position in the domain of swarm, a governingfield is first constructed to provide optimal moving directions atevery points. Following these directions, a robot can be drivento the target efficiently. However, when working with a crowd ofmicro-robots, the optimal moving directions on different agentscan contradict with each other. To overcome this difficulty, wedevelop a novel steering algorithm to compute a statisticallyoptimal actuating direction at each time frame. Following asequence of these actuating directions, a crowd of micro-robotscan be transported to the target region effectively. Our steeringstrategy of swarm has been verified on a platform that generatesmagnetic fields with unique actuating directions. Experimentaltests taken on aggregated magnetic micro-particles are quiteencouraging.

AB - We present a general solution for steering microroboticswarm by dynamic actuating fields. In our approach, themotion of micro-robots is controlled by changing the actuatingdirection of a field applied to them. The time-series sequenceof actuating field’s directions can be computed automatically.Given a target position in the domain of swarm, a governingfield is first constructed to provide optimal moving directions atevery points. Following these directions, a robot can be drivento the target efficiently. However, when working with a crowd ofmicro-robots, the optimal moving directions on different agentscan contradict with each other. To overcome this difficulty, wedevelop a novel steering algorithm to compute a statisticallyoptimal actuating direction at each time frame. Following asequence of these actuating directions, a crowd of micro-robotscan be transported to the target region effectively. Our steeringstrategy of swarm has been verified on a platform that generatesmagnetic fields with unique actuating directions. Experimentaltests taken on aggregated magnetic micro-particles are quiteencouraging.

KW - microrobots

KW - mobile robots

KW - motion control

KW - multi-robot systems

KW - position control

KW - time series

UR - http://resolver.tudelft.nl/uuid:37c4a76b-5bcb-45e5-98bb-e0095cf50748

U2 - 10.1109/ICRA.2016.7487731

DO - 10.1109/ICRA.2016.7487731

M3 - Conference contribution

SN - 978-1-4673-8025-6

SP - 5230

EP - 5235

BT - 2016 IEEE International Conference on Robotics and Automation

PB - IEEE

CY - Piscataway

T2 - IEEE International Conference on Robotics and Automation (ICRA 2016)

Y2 - 16 May 2016 through 21 May 2016

ER -

Steering Micro-Robotic Swarm by Dynamic Actuating Fields

Abstract

Conference

Bibliographical note

Keywords

Access to Document

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Cite this