Bachelor's projects

Motion planning for micro-sized agents

fig-planning-microagentMicro-sized agents can be used in applications such as microassembly, micromanipulation, and minimally invasive surgeries. Magnetic agents such as paramagnetic microparticles can be controlled to deliver pharmaceutical agents to difficult-to-access regions within the human body. In order to autonomously move these microparticles toward a target/goal area, an obstacle-free path must be computed using path planning algorithms.

Project: In this project, it is necessary to implement a motion planner that considers uncertainty in the microparticle’s motion and maximizes the probability that the microparticle avoids obstacle collisions and reaches the target.