Automatic planning of nanoparticle assembly tasks

Author

Makaliwe, J.H. ; Requicha, A.A.G.

fYear

2001

fDate

2001

Firstpage

288

Lastpage

293

Abstract

This paper presents a practical planning system for 2D 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

Keywords

assembly planning; collision avoidance; computational complexity; graph theory; nanotechnology; optimisation; production engineering computing; 2D assembly tasks; automatic planning; low-order polynomial complexity; nanoparticle assembly tasks; nanoparticle pattern assembly planning; nanorobotics; nanoscale; object assignment; obstacle avoidance; obstacle detection; optimization theory; path finding; path sequencing; visibility graph construction; Assembly systems; Heuristic algorithms; Motion planning; Object detection; Path planning; Polynomials; Robotic assembly; Robotics and automation; Robots; Scanning probe microscopy;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on

Conference_Location

Fukuoka

Print_ISBN

0-7803-7004-X

Type

conf

DOI

10.1109/ISATP.2001.929037

Filename

929037