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Title: Targeted Drug Delivery: Algorithmic Methods for Collecting a Swarm of Particles with Uniform, External Forces
We investigate algorithmic approaches for targeted drug delivery in a complex, maze-like environment, such as a vascular system. The basic scenario is given by a large swarm of micro-scale particles ("agents") and a particular target region ("tumor") within a system of passageways. Agents are too small to contain on-board power or computation and are instead controlled by a global external force that acts uniformly on all particles, such as an applied fluidic flow or electromagnetic field. The challenge is to deliver all agents to the target region with a minimum number of actuation steps. We provide a number of results for this challenge. We show that the underlying problem is NP-hard, which explains why previous work did not provide provably efficient algorithms. We also develop a number of algorithmic approaches that greatly improve the worst-case guarantees for the number of required actuation steps. We evaluate our algorithmic approaches by a number of simulations, both for deterministic algorithms and searches supported by deep learning, which show that the performance is practically promising.  more » « less
Award ID(s):
1553063 1932572
Author(s) / Creator(s):
; ; ; ; ; ; ;
Date Published:
Journal Name:
2020 IEEE International Conference on Robotics and Automation (ICRA)
Page Range / eLocation ID:
2508 to 2514
Medium: X
Sponsoring Org:
National Science Foundation
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