In this article, we propose a multi-agent robot control framework for coordinated manipulation of multiple micro-objects with Brownian perturbations. In this control approach, several micro-hands with multiple fingertips are first constructed by coordination of optically trapped particles so as to grasp the target micro-objects. The grasped micro-objects are then cooperatively manipulated through coordinative control of the micro-hands with multiple fingertips. While current optical manipulation techniques are heavily dependent on the physical properties of the manipulated micro-objects, this article offers a multi-agent robot control framework for coordinated manipulation of multiple micro-objects with arbitrary types in the microworld. The control problem is rigorously formulated with the consideration of the Brownian effect, and the stability of the control system is analyzed from a stochastic perspective. The effectiveness of the proposed control technique is validated with experimental results.

中文翻译：

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随机光学操纵系统的多智能体控制

在本文中，我们提出了一种多主体机器人控制框架，该框架可用于布朗微扰对多个微对象的协调操纵。在这种控制方法中，首先通过光学捕获的粒子的配合来构造具有多个指尖的多个微型手，以便抓住目标微型对象。然后，通过多指尖对微型手的协调控制，可以协同操作所抓取的微型对象。尽管当前的光学操纵技术在很大程度上取决于操纵的微对象的物理属性，但本文提供了一种多主体机器人控制框架，用于协调操纵微世界中任意类型的多个微对象。控制问题是在考虑布朗效应的情况下严格制定的，从随机角度分析了控制系统的稳定性。实验结果验证了所提出的控制技术的有效性。