2018/04/28 by Yiannis Kantaros, Kantaros, Yiannis, Benjamin D. Johnson +7
Computer Science · #Logic, Reasoning, and Knowledge #Robotic Path Planning Algorithms #Logic, programming, and type systems
paper · pdf · doi:10.48550/arxiv.1804.10865
In this paper, we present a control framework that allows magnetic microrobot\nteams to accomplish complex micromanipulation tasks captured by global Linear\nTemporal Logic (LTL) formulas. To address this problem, we propose an optimal\ncontrol synthesis method that constructs discrete plans for the robots that\nsatisfy both the assigned tasks as well as proximity constraints between the\nrobots due to the physics of the problem. Our proposed algorithm relies on an\nexisting optimal control synthesis approach combined with a novel\nsampling-based technique to reduce the state-space of the product automaton\nthat is associated with the LTL specifications. The synthesized discrete plans\nare executed by the microrobots independently using local magnetic fields.\nSimulation studies show that the proposed algorithm can address large-scale\nplanning problems that cannot be solved using existing optimal control\nsynthesis approaches. Moreover, we present experimental results that also\nillustrate the potential of our method in practice. To the best of our\nknowledge, this is the first control framework that allows independent control\nof teams of magnetic microrobots for temporal micromanipulation tasks.\n