Algorithms for shaping a particle swarm with a shared input by exploiting non-slip wall contacts
Algorithms for shaping a particle swarm with a shared input by exploiting non-slip wall contacts
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DOI：
10.1109/iros.2017.8206294
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发表时间：
2017-09
期刊：
影响因子：
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通讯作者：
Shiva Shahrokhi;Arun Mahadev;Aaron T. Becker
中科院分区：
文献类型：
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作者：
Shiva Shahrokhi;Arun Mahadev;Aaron T. Becker
在机器人、生物学和化学领域，大量的微型机器人有着巨大的应用前景。这些机器人通常缺乏机载计算，驱动和通信。相反，这些“机器人”是携带一些有效载荷的粒子，并且粒子群由诸如均匀磁场梯度或电场的共享控制输入控制。在以前的作品中，我们表明，在这样的群体中的每个粒子的2D位置是可控的，如果工作空间包含一个单一的障碍物的大小的一个粒子。需要在工作空间的中间悬挂一个小的刚性障碍物是一个很强的限制，特别是在3D中。本文放宽了这一限制，并提供了位置控制算法，只需要在二维防滑壁接触。在体内和人工环境中通常都有这样的边界。我们假设，如果共享控制输入将粒子推入壁中，则与边界接触的粒子的速度为零。本文提出了一种两粒子群定位的最短路径算法，并将其推广到n粒子群定位。仿真和硬件演示的结果进行了验证。
There are driving applications for large populations of tiny robots in robotics, biology, and chemistry. These robots often lack onboard computation, actuation, and communication. Instead, these “robots” are particles carrying some payload and the particle swarm is controlled by a shared control input such as a uniform magnetic gradient or electric field. In previous works, we showed that the 2D position of each particle in such a swarm is controllable if the workspace contains a single obstacle the size of one particle. Requiring a small, rigid obstacle suspended in the middle of the workspace is a strong constraint, especially in 3D. This paper relaxes that constraint, and provides position control algorithms that only require non-slip wall contact in 2D. Both in vivo and artificial environments often have such boundaries. We assume that particles in contact with the boundaries have zero velocity if the shared control input pushes the particle into the wall. This paper provides a shortest-path algorithm for positioning a two-particle swarm, and a generalization to positioning an n-particle swarm. Results are validated with simulations and a hardware demonstration.