Path planning and aggregation for a microrobot swarm in vascular networks using a global input

@article{Huang2017PathPA,
  title={Path planning and aggregation for a microrobot swarm in vascular networks using a global input},
  author={L. Y. Huang and Louis W. Rogowski and Min Jun Kim and Aaron Becker},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={414-420}
}
Microrobots have great potential for microassembly and non-invasive surgery applications. Motivated by studies proposing MRI-guided drug delivery to tumor cells using magnetic micro carriers, this paper studies two major challenges of this problem: (i) microrobot swarm trajectory generation, and (ii) swarm aggregation using a global input. We propose an augmented RRT for trajectory generation to reduce environment interference, and a divide-and-conquer algorithm for swarm aggregation to improve… CONTINUE READING

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