Control of the multi agent micro-robotic platform miCRoN

Vartholomeos, P; Loizou, S; Thiel, M; Kyriakopoulos, K; Papadopoulos, E

dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Loizou, S	en
dc.contributor.author	Thiel, M	en
dc.contributor.author	Kyriakopoulos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:43:59Z
dc.date.available	2014-03-01T02:43:59Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31596
dc.subject	Collision Avoidance	en
dc.subject	Control Architecture	en
dc.subject	Control System	en
dc.subject	Machine Learning	en
dc.subject	Position Control	en
dc.subject	Robot Navigation	en
dc.subject	Theoretical Framework	en
dc.subject	Trajectory Tracking	en
dc.subject.other	Application domains	en
dc.subject.other	Cell manipulation	en
dc.subject.other	Centralized control architecture	en
dc.subject.other	Control module	en
dc.subject.other	Control system architecture	en
dc.subject.other	Execution units	en
dc.subject.other	Hardware experiment	en
dc.subject.other	High level controllers	en
dc.subject.other	High level simulation	en
dc.subject.other	Low level	en
dc.subject.other	Machine learning algorithms	en
dc.subject.other	Micro-scale	en
dc.subject.other	Multi agent	en
dc.subject.other	Multi-robot navigation	en
dc.subject.other	Position controller	en
dc.subject.other	Robotic platforms	en
dc.subject.other	Theoretical framework	en
dc.subject.other	Trajectory tracking	en
dc.subject.other	Control	en
dc.subject.other	Learning algorithms	en
dc.subject.other	Learning systems	en
dc.subject.other	Multi agent systems	en
dc.subject.other	Position control	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Three dimensional	en
dc.subject.other	Tracking (position)	en
dc.subject.other	Controllers	en
dc.title	Control of the multi agent micro-robotic platform miCRoN	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CACSD-CCA-ISIC.2006.4776849	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CACSD-CCA-ISIC.2006.4776849	en
heal.identifier.secondary	4776849	en
heal.publicationDate	2006	en
heal.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 microscale. 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.©2006 IEEE.	en
heal.journalName	Proceedings of the IEEE International Conference on Control Applications	en
dc.identifier.doi	10.1109/CACSD-CCA-ISIC.2006.4776849	en
dc.identifier.spage	1414	en
dc.identifier.epage	1419	en