Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers

  title={Real-Time Path Planning for Coordinated Transport of Multiple Particles Using Optical Tweezers},
  author={Ashis Gopal Banerjee and Sagar Chowdhury and Wolfgang Losert and Satyandra K. Gupta},
  journal={IEEE Transactions on Automation Science and Engineering},
Automated transport of multiple particles using optical tweezers requires real-time path planning to move them in coordination by avoiding collisions among themselves and with randomly moving obstacles. This paper develops a decoupled and prioritized path planning approach by sequentially applying a partially observable Markov decision process algorithm on every particle that needs to be transported. We use an iterative version of a maximum bipartite graph matching algorithm to assign given… CONTINUE READING
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