使用共享全局输入在网格环境中收集Swarm
Collecting a Swarm in a Grid Environment Using Shared, Global Inputs
摘要：
本文研究了有效的技术，收集和集中的欠驱动粒子群，尽管障碍。集中一群颗粒在医疗保健中对于靶向药物递送至关重要，其中微尺度颗粒必须被引导到目标位置。单个颗粒必须很小，以便在微血管中导航，但减小尺寸带来了新的挑战。单个粒子太小，无法容纳板载功率或计算，而是由全局输入控制，例如施加的流体流或电场。为了取得进展，本文考虑了一群机器人初始化的网格世界中，每个位置是自由空间或障碍。本文提供的算法，收集所有的机器人到一个位置，并比较这些算法的效率和执行时间的基础上。
英文摘要：
This paper investigates efficient techniques to collect and concentrate an under-actuated particle swarm despite obstacles. Concentrating a swarm of particles is of critical importance in health-care for targeted drug delivery, where micro-scale particles must be steered to a goal location. Individual particles must be small in order to navigate through micro-vasculature, but decreasing size brings new challenges. Individual particles are too small to contain on-board power or computation and are instead controlled by a global input, such as an applied fluidic flow or electric field. To make progress, this paper considers a swarm of robots initialized in a grid world in which each position is either free-space or obstacle. This paper provides algorithms that collect all the robots to one position and compares these algorithms on the basis of efficiency and implementation time.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
