A Step Toward Learning to Control Tens of Optically Actuated Microrobots in Three Dimensions
A Step Toward Learning to Control Tens of Optically Actuated Microrobots in Three Dimensions
复制标题
迈向学习在三维空间中控制数十个光驱动微型机器人的一步
DOI：
10.1109/coase.2018.8560462
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Behnoosh Parsa
中科院分区：
文献类型：
--
作者：
A. Banerjee;K. Rajasekaran;Behnoosh Parsa
在三维空间中对大量独立控制的微型机器人进行自动化操作，可能会以可扩展和可靠的方式在工程和生物功能微结构的形成方面取得重大突破。在本文中，我们通过开发基于强化学习的模型预测控制器来实现这一目标。我们的控制器（近似）通过重要性采样优化微机器人的轨迹，同时确保轨迹不会与工作空间障碍物（如其他随机分散的微物体或已经形成的微结构）发生碰撞。利用全息光阱驱动的数十个微球的模拟实验验证了该方法的可行性和实用性。
Automated manipulation of a large number of independently controlled microrobots in three dimensions can potentially lead to a major breakthrough in the formation of functional microstructures, both engineering and biological, in a scalable and reliable manner. In this paper, we provide the first foundational step toward realizing this objective by developing a reinforcement learning-based model predictive controller. Our controller (approximately) optimizes the trajectories of the microrobots through importance sampling, while ensuring that the trajectories do not cause collisions with workspace obstacles, such as other randomly dispersed microobjects or already-formed microstructures. Simulation experiments with tens of microspheres, actuated using holographic optical traps, demonstrate the feasibility and usefulness of our method.
影响因子：
4.6
作者：
Garces-Schroeder, Mayra;Leester-Schaedel, Monika;Dietzel, Andreas
通讯作者：
Dietzel, Andreas
影响因子：
3.4
作者：
A. Samadi;Chensong Zhang;Joseph Chen;S. Reihani;Zhigang Chen
通讯作者：
A. Samadi;Chensong Zhang;Joseph Chen;S. Reihani;Zhigang Chen