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	2014-03-01T02:51:03Z
dc.date.available	2014-03-01T02:51:03Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35330
dc.subject.other	Centralized control architecture	en
dc.subject.other	Control modules	en
dc.subject.other	Integrates sensory modules	en
dc.subject.other	Layered control systems	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Control systems	en
dc.subject.other	Learning algorithms	en
dc.subject.other	Learning systems	en
dc.subject.other	Robotics	en
dc.subject.other	Multi agent systems	en
dc.title	Control of the multi agent micro-robotic platform MiCRoN	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CCA.2006.286065	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CCA.2006.286065	en
heal.identifier.secondary	4067386	en
heal.publicationDate	2007	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 micro-scale. 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/CCA.2006.286065	en
dc.identifier.spage	1414	en
dc.identifier.epage	1419	en