{"id":"https://openalex.org/W4226027359","doi":"https://doi.org/10.1109/tase.2022.3151872","title":"Informed Sampling-Based Motion Planning for Manipulating Multiple Micro Agents Using Global External Electric Fields","display_name":"Informed Sampling-Based Motion Planning for Manipulating Multiple Micro Agents Using Global External Electric Fields","publication_year":2022,"publication_date":"2022-03-15","ids":{"openalex":"https://openalex.org/W4226027359","doi":"https://doi.org/10.1109/tase.2022.3151872"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3151872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3151872","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100639669","display_name":"Xi-Lin Li","orcid":null},"institutions":[{"id":"https://openalex.org/I123946342","display_name":"Binghamton University","ror":"https://ror.org/008rmbt77","country_code":"US","type":"education","lineage":["https://openalex.org/I123946342"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xilin Li","raw_affiliation_strings":["Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA","institution_ids":["https://openalex.org/I123946342"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103261617","display_name":"Juan Wu","orcid":"https://orcid.org/0009-0004-6383-3613"},"institutions":[{"id":"https://openalex.org/I123946342","display_name":"Binghamton University","ror":"https://ror.org/008rmbt77","country_code":"US","type":"education","lineage":["https://openalex.org/I123946342"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Wu","raw_affiliation_strings":["Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA","institution_ids":["https://openalex.org/I123946342"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053156250","display_name":"Jiaxu Song","orcid":null},"institutions":[{"id":"https://openalex.org/I123946342","display_name":"Binghamton University","ror":"https://ror.org/008rmbt77","country_code":"US","type":"education","lineage":["https://openalex.org/I123946342"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaxu Song","raw_affiliation_strings":["Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA","institution_ids":["https://openalex.org/I123946342"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035243524","display_name":"Kaiyan Yu","orcid":"https://orcid.org/0000-0001-5962-8968"},"institutions":[{"id":"https://openalex.org/I123946342","display_name":"Binghamton University","ror":"https://ror.org/008rmbt77","country_code":"US","type":"education","lineage":["https://openalex.org/I123946342"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaiyan Yu","raw_affiliation_strings":["Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Binghamton University, Binghamton, NY, USA","institution_ids":["https://openalex.org/I123946342"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100639669"],"corresponding_institution_ids":["https://openalex.org/I123946342"],"apc_list":null,"apc_paid":null,"fwci":0.4026,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57798319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"19","issue":"3","first_page":"1422","last_page":"1433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5980409979820251},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5302808880805969},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4301258325576782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36675408482551575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3338819146156311},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.32525721192359924},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.11079272627830505}],"concepts":[{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5980409979820251},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5302808880805969},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4301258325576782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36675408482551575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3338819146156311},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.32525721192359924},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.11079272627830505}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3151872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3151872","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G203570463","display_name":null,"funder_award_id":"CMMI 2146056","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1982754184","https://openalex.org/W2012707371","https://openalex.org/W2055201760","https://openalex.org/W2098029503","https://openalex.org/W2112271657","https://openalex.org/W2124455817","https://openalex.org/W2132990760","https://openalex.org/W2136290525","https://openalex.org/W2296385533","https://openalex.org/W2517993614","https://openalex.org/W2552069129","https://openalex.org/W2765678012","https://openalex.org/W2793445062","https://openalex.org/W2802559838","https://openalex.org/W2901957321","https://openalex.org/W2903718900","https://openalex.org/W2963641660","https://openalex.org/W2963645756","https://openalex.org/W2964568892","https://openalex.org/W2966211719","https://openalex.org/W2967850776","https://openalex.org/W2972539416","https://openalex.org/W2990876349","https://openalex.org/W3007000862","https://openalex.org/W3011646207","https://openalex.org/W3047385205","https://openalex.org/W3092499619","https://openalex.org/W3154585887","https://openalex.org/W3194833037","https://openalex.org/W3217767993","https://openalex.org/W4251487541","https://openalex.org/W6674443108","https://openalex.org/W6766946934","https://openalex.org/W6766983361"],"related_works":["https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W4245490552","https://openalex.org/W4225152035","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W1587224694","https://openalex.org/W2911598644","https://openalex.org/W2142036596"],"abstract_inverted_index":{"Online":[0],"manipulation":[1,37,250,284],"of":[2,9,20,38,247,251,273,285,292,331,410,468],"multiple":[3,39,91,252,286,351,374,394,431,469],"micro-":[4,287],"and":[5,27,42,68,236,261,270,288,323,338,354,382,401,421,453],"nanoscale":[6,289],"agents":[7,40,92,254,290,352,375,395,470],"is":[8,142,210,291,301],"major":[10,293],"interest":[11,294],"for":[12,90,295,373,392,430],"various":[13,296],"research":[14,297],"applications.":[15,298],"Among":[16,327],"the":[17,31,35,102,135,146,172,184,196,214,219,229,245,248,268,271,274,328,342,346,390,408,411,437,442,451,463],"biggest":[18,329],"limitations":[19,330],"wireless":[21,332],"external":[22,95,257,333,378],"actuation":[23,300,313,334,452,464],"are":[24,99,264,335,386,404,447,471],"its":[25,336],"global":[26,94,256,337,377,397],"coupled":[28,339,472],"influences":[29,340],"in":[30,206,341,461],"workspace,":[32,343],"which":[33,344,462],"limit":[34,345],"robust":[36],"independently":[41,353],"simultaneously.":[43,355],"In":[44,356],"this":[45,357],"paper,":[46,358],"we":[47,359,434],"propose":[48,360],"novel":[49,139,361],"motion":[50,109,275,365,412,444],"planning":[51,110,276,366,413,445],"algorithms,":[52],"<inline-formula":[53,61,69,77,113,121,156,164,221],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[54,62,70,78,114,122,157,165,222,279],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[55,63,71,79,115,123,158,166,223],"<tex-math":[56,64,72,80,116,124,159,167,224],"notation=\"LaTeX\">$\\tt":[57,65,73,81,117,125,160,168,225],"Bi$":[58,118],"</tex-math></inline-formula>":[59,67,75,83,119,127,162,170,227],"-":[60,76,120,163],"iSST$":[66,82,126,169,226],"Ref$":[74,161],",":[84],"to":[85,132,144,175,195,204,212,238,243,266,281,305,348,368,388,406,424,450,457],"quickly":[86,176,232,369,422],"generate":[87,177,370],"time-optimal":[88,371],"trajectories":[89,179,372],"sharing":[93,376],"fields.":[96,258,379,398],"Both":[97],"algorithms":[98,231,367],"extended":[100],"by":[101,150,189],"stable":[103],"sparse":[104],"rapidly-exploring":[105],"random":[106],"tree":[107],"kinodynamic":[108],"algorithm.":[111],"The":[112,155,309,415],"uses":[128,171],"a":[129,239,302,425,466],"bidirectional":[130,362],"approach":[131],"speed":[133],"up":[134],"searching":[136],"process.":[137],"A":[138,200],"connection":[140],"process":[141,186],"proposed":[143,230,416,443],"connect":[145],"two":[147],"trees":[148],"efficiently":[149],"applying":[151],"an":[152],"optimization":[153],"procedure.":[154],"workspace":[173],"information":[174],"global-routing":[178,198],"as":[180],"references,":[181],"then":[182],"guides":[183],"search":[185,391],"more":[187,191],"effectively":[188],"getting":[190],"accurate":[192],"heuristics":[193,381],"according":[194],"reference":[197,215,384],"trajectories.":[199],"transition":[201],"matrix":[202],"similar":[203],"that":[205],"Markov":[207],"Decision":[208],"Processes":[209],"used":[211,311,387],"form":[213],"trajectory.":[216],"Compared":[217],"with":[218],"state-of-the-art":[220],"algorithm,":[228],"update":[233],"feasible":[234],"solutions":[235],"converge":[237],"near-optimal,":[240],"minimum-time":[241],"solution":[242,429],"increase":[244],"efficiency":[246],"simultaneous":[249],"micro":[253],"using":[255],"Extensive":[259],"analysis":[260],"physical":[262,402],"experiments":[263,403],"presented":[265,405],"confirm":[267],"effectiveness":[269],"performance":[272,409,420],"algorithms.":[277],"<italic":[278],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[280],"Practitioners</i>":[282],"\u2014Autonomous":[283],"Wireless":[299],"promising":[303],"way":[304],"position":[306],"those":[307],"objects.":[308],"commonly":[310],"non-contact":[312],"techniques":[314],"include":[315],"magnetic":[316],"actuation,":[317,320],"electrical":[318],"field":[319],"optical":[321],"tweezers,":[322],"actuated":[324,439],"flows,":[325],"etc.":[326],"capability":[347],"robustly":[349],"manipulate":[350],"informed":[363,383],"sampling-based":[364],"Novel":[380],"trajectory":[385],"guide":[389],"manipulating":[393],"under":[396],"Numerical":[399],"simulations":[400],"demonstrate":[407],"design.":[414],"algorithm":[417],"guarantees":[418],"anytime":[419],"converges":[423],"near-optimal":[426],"minimum":[427],"time":[428],"agents.":[432],"Although":[433],"focus":[435],"on":[436],"electric-field":[438],"multiple-micro-agent":[440],"system,":[441],"strategies":[446],"not":[448],"limited":[449],"can":[454],"be":[455],"generalized":[456],"other":[458],"field-based":[459],"applications,":[460],"among":[465],"group":[467],"or":[473],"intertwined.":[474]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
