Document Type

Article

Publication Date

2007

Publication Title

IEEE/ASME Transactions on Mechatronics

Volume

12

Issue

3

First Page

352

Last Page

356

DOI

10.1109/TMECH.2007.897282

Keywords

Multirobot coordination, nanoassembly planning, self-organizing map (SOM), shunting neural networks

Abstract

In this paper, a novel approach of automated multirobot nanoassembly planning is presented. This approach uses an improved self-organizing map to coordinate assembly tasks of nanorobots while generating optimized motion paths at run time with a modified shunting neural network. It is capable of synchronizing multiple nanorobots working simultaneously and efficiently on the assembly of swarms of objects in the presence of obstacles and environmental uncertainty. Operation of the presented approach is demonstrated with experiments at the end of the paper.

Comments

The definitive version of this article published in IEEE/ASME Transactions on Mechatronics can be found here. (c) 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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