Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks

23 Sep 2018 Kantaros Yiannis Johnson Benjamin Chowdhury Sagar Cappelleri David J. Zavlanos Michael M.

In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal control synthesis method that constructs discrete plans for the robots that satisfy both the assigned tasks as well as proximity constraints between the robots due to the physics of the problem... (read more)

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