Automatic planning of nanoparticle assembly tasks

被引：21

作者：

Makaliwe, JH ^{[1
]}

Requicha, AAG ^{[1
]}

机构：

[1] Univ So Calif, Lab Mol Robot, Los Angeles, CA 90089 USA

来源：

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2001): ASSEMBLY AND DISASSEMBLY IN THE TWENTY-FIRST CENTURY | 2001年

关键词：

D O I：

10.1109/ISATP.2001.929037

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a practical planning system for 2-D assembly tasks at the nanoscale. The planner covers a whole range of problems in planning the assembly of nanoparticle patterns, including object assignment, obstacle detection and avoidance, path finding, and path sequencing. We describe algorithms based on optimization theory and visibility graph construction, and show how to integrate them into a comprehensive planner that has a low-order polynomial complexity and produces good results. We provide theoretical analysis and experimental results. This is a first step towards automating assembly tasks in nanorobotics.

引用

页码：288 / 293

页数：2

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