Mennillo, Laurent;
Bendkowski, Christopher;
Elsayed, Mohamed;
Edwards, Harrison;
Zhang, Shuailong;
Pawar, Vijay;
Wheeler, Aaron R;
... Shaw, Michael; + view all
(2022)
Adaptive Autonomous Navigation of Multiple Optoelectronic Microrobots in Dynamic Environments.
IEEE Robotics and Automation Letters
, 7
(4)
10.1109/lra.2022.3194308.
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Abstract
The optoelectronic microrobot is an advanced light-controlled micromanipulation technology which has particular promise for collecting and transporting sensitive microscopic objects such as biological cells. However, wider application of the technology is currently limited by a reliance on manual control and a lack of methods for simultaneous manipulation of multiple microrobotic actuators. In this article, we present a computational framework for autonomous navigation of multiple optoelectronic microrobots in dynamic environments. Combining closed-loop visual-servoing, SLAM, real-time visual detection of microrobots and obstacles, dynamic path-finding and adaptive motion behaviors, this approach allows microrobots to avoid static and moving obstacles and perform a range of tasks in real-world dynamic environments. The capabilities of the system are demonstrated through micromanipulation experiments in simulation and in real conditions using a custom built optoelectronic tweezer system.
| Type: | Article |
|---|---|
| Title: | Adaptive Autonomous Navigation of Multiple Optoelectronic Microrobots in Dynamic Environments |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/lra.2022.3194308 |
| Publisher version: | https://doi.org/10.1109/lra.2022.3194308 |
| Language: | English |
| Additional information: | This work was supported by the UK Economic and Social Research Council [grant number ES/T011866/1] and the Natural Sciences and Engineering Research Council of Canada (NSERC), [funding reference number ALLRP 548593-19]. For the purpose of open access, the author has applied a Creative Commons Attribution (CC BY) license to any Author Accepted Manuscript version arising from this submission. |
| Keywords: | Cameras, Calibration, Microscopy, Simultaneous localization and mapping, Task analysis, Electrodes, Dynamics |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10153169 |
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