An experimental comparison of path planning techniques applied to micro-sized magnetic agents

Stefano Scheggi, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
130 Downloads (Pure)

Abstract

Micro-sized agents can be used in applications suchas microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-toaccess regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstaclefree path must be computed using path planning algorithms. Several path planning algorithms have been developed in the literature, however, to the best of our knowledge, only few have been employed in an experimental scenario. In this paper we perform an experimental comparison of six path planning algorithms when applied to the motion control of paramagnetic microparticles. Among the families of deterministic and probabilistic path planners we select the ones that we consider the most fundamental, such as: A* with quadtrees, A* with uniform grids, D* Lite, Artificial Potential Field, Probabilistic Roadmap and Rapidly-exploring Random Tree. We consider a 2D environment made by both dynamic and static obstacles. Four scenarios are evaluated. Three metrics such as computation time, length of the trajectory performed by the microparticle, and time to reach the goal are used to compare the planners. Experimental results reveal equivalence between almost all the considered planners in terms of trajectory length and completion time. Concerning the computation time, A* with quadtrees and Artificial Potential Field achieve the best performances.
Original languageEnglish
Title of host publicationProceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS)
EditorsS. Haliyo, A. Sill, S. Regnier, S. Fatikow
Place of PublicationParis, France
PublisherIEEE
Pages1-6
ISBN (Print)978-150901510-8
DOIs
Publication statusPublished - 18 Jul 2016
Event1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016 - Cordelier Campus of the University Pierre and Marie Curie, Paris, France
Duration: 18 Jul 201622 Jul 2016
Conference number: 1

Publication series

Name
PublisherIEEE

Conference

Conference1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016
Abbreviated titleMARSS
CountryFrance
CityParis
Period18/07/1622/07/16

Fingerprint

Motion planning
Trajectories
Motion control
Drug products
Surgery

Keywords

  • IR-100246
  • METIS-316426

Cite this

Scheggi, S., & Misra, S. (2016). An experimental comparison of path planning techniques applied to micro-sized magnetic agents. In S. Haliyo, A. Sill, S. Regnier, & S. Fatikow (Eds.), Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS) (pp. 1-6). Paris, France: IEEE. https://doi.org/10.1109/MARSS.2016.7561695
Scheggi, Stefano ; Misra, Sarthak. / An experimental comparison of path planning techniques applied to micro-sized magnetic agents. Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). editor / S. Haliyo ; A. Sill ; S. Regnier ; S. Fatikow. Paris, France : IEEE, 2016. pp. 1-6
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abstract = "Micro-sized agents can be used in applications suchas microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-toaccess regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstaclefree path must be computed using path planning algorithms. Several path planning algorithms have been developed in the literature, however, to the best of our knowledge, only few have been employed in an experimental scenario. In this paper we perform an experimental comparison of six path planning algorithms when applied to the motion control of paramagnetic microparticles. Among the families of deterministic and probabilistic path planners we select the ones that we consider the most fundamental, such as: A* with quadtrees, A* with uniform grids, D* Lite, Artificial Potential Field, Probabilistic Roadmap and Rapidly-exploring Random Tree. We consider a 2D environment made by both dynamic and static obstacles. Four scenarios are evaluated. Three metrics such as computation time, length of the trajectory performed by the microparticle, and time to reach the goal are used to compare the planners. Experimental results reveal equivalence between almost all the considered planners in terms of trajectory length and completion time. Concerning the computation time, A* with quadtrees and Artificial Potential Field achieve the best performances.",
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Scheggi, S & Misra, S 2016, An experimental comparison of path planning techniques applied to micro-sized magnetic agents. in S Haliyo, A Sill, S Regnier & S Fatikow (eds), Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). IEEE, Paris, France, pp. 1-6, 1st International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2016, Paris, France, 18/07/16. https://doi.org/10.1109/MARSS.2016.7561695

An experimental comparison of path planning techniques applied to micro-sized magnetic agents. / Scheggi, Stefano; Misra, Sarthak.

Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). ed. / S. Haliyo; A. Sill; S. Regnier; S. Fatikow. Paris, France : IEEE, 2016. p. 1-6.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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T1 - An experimental comparison of path planning techniques applied to micro-sized magnetic agents

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AU - Misra, Sarthak

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N2 - Micro-sized agents can be used in applications suchas microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-toaccess regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstaclefree path must be computed using path planning algorithms. Several path planning algorithms have been developed in the literature, however, to the best of our knowledge, only few have been employed in an experimental scenario. In this paper we perform an experimental comparison of six path planning algorithms when applied to the motion control of paramagnetic microparticles. Among the families of deterministic and probabilistic path planners we select the ones that we consider the most fundamental, such as: A* with quadtrees, A* with uniform grids, D* Lite, Artificial Potential Field, Probabilistic Roadmap and Rapidly-exploring Random Tree. We consider a 2D environment made by both dynamic and static obstacles. Four scenarios are evaluated. Three metrics such as computation time, length of the trajectory performed by the microparticle, and time to reach the goal are used to compare the planners. Experimental results reveal equivalence between almost all the considered planners in terms of trajectory length and completion time. Concerning the computation time, A* with quadtrees and Artificial Potential Field achieve the best performances.

AB - Micro-sized agents can be used in applications suchas microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-toaccess regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstaclefree path must be computed using path planning algorithms. Several path planning algorithms have been developed in the literature, however, to the best of our knowledge, only few have been employed in an experimental scenario. In this paper we perform an experimental comparison of six path planning algorithms when applied to the motion control of paramagnetic microparticles. Among the families of deterministic and probabilistic path planners we select the ones that we consider the most fundamental, such as: A* with quadtrees, A* with uniform grids, D* Lite, Artificial Potential Field, Probabilistic Roadmap and Rapidly-exploring Random Tree. We consider a 2D environment made by both dynamic and static obstacles. Four scenarios are evaluated. Three metrics such as computation time, length of the trajectory performed by the microparticle, and time to reach the goal are used to compare the planners. Experimental results reveal equivalence between almost all the considered planners in terms of trajectory length and completion time. Concerning the computation time, A* with quadtrees and Artificial Potential Field achieve the best performances.

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M3 - Conference contribution

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BT - Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS)

A2 - Haliyo, S.

A2 - Sill, A.

A2 - Regnier, S.

A2 - Fatikow, S.

PB - IEEE

CY - Paris, France

ER -

Scheggi S, Misra S. An experimental comparison of path planning techniques applied to micro-sized magnetic agents. In Haliyo S, Sill A, Regnier S, Fatikow S, editors, Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS). Paris, France: IEEE. 2016. p. 1-6 https://doi.org/10.1109/MARSS.2016.7561695