Dynamic Path Planning and Motion Control of Microrobotic Swarms for Mobile Target Tracking

Zou, Qian; Du, Xingzhou; Liu, Yuezhen; Chen, Hui; Wang, Yibin; Yu, Jiangfan

doi:10.1109/tase.2022.3207289

Cited by 19 publications

(8 citation statements)

References 42 publications

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“…To develop automated control systems, there is considerable enthusiasm for integrating machine learning techniques into the control of biodegradable microrobots, allowing them to execute sophisticated tasks without explicit programming [ 126 , 127 , 128 , 129 , 130 , 131 ]. It is promising to develop more degradation mechanisms that have a wider scope of applications, and developing biodegradable microswarms is a good choice to address this problem [ 132 , 133 ]. The potential benefits of biodegradable microrobots in healthcare make these challenges worth addressing.…”

Section: Discussionmentioning

confidence: 99%

Biodegradable Microrobots and Their Biomedical Applications: A Review

2023

Nanomaterials

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During recent years, microrobots have drawn extensive attention owing to their good controllability and great potential in biomedicine. Powered by external physical fields or chemical reactions, these untethered microdevices are promising candidates for in vivo complex tasks, such as targeted delivery, imaging and sensing, tissue engineering, hyperthermia, and assisted fertilization, among others. However, in clinical use, the biodegradability of microrobots is significant for avoiding toxic residue in the human body. The selection of biodegradable materials and the corresponding in vivo environment needed for degradation are increasingly receiving attention in this regard. This review aims at analyzing different types of biodegradable microrobots by critically discussing their advantages and limitations. The chemical degradation mechanisms behind biodegradable microrobots and their typical applications are also thoroughly investigated. Furthermore, we examine their feasibility and deal with the in vivo suitability of different biodegradable microrobots in terms of their degradation mechanisms; pathological environments; and corresponding biomedical applications, especially targeted delivery. Ultimately, we highlight the prevailing obstacles and perspective solutions, ranging from their manufacturing methods, control of movement, and degradation rate to insufficient and limited in vivo tests, that could be of benefit to forthcoming clinical applications.

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Section: Discussionmentioning

confidence: 99%

Biodegradable Microrobots and Their Biomedical Applications: A Review

2023

Nanomaterials

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“…Moreover, through the implementation of machine learning and control loops into the guidance strategies, automated swarm control was realized to precisely adjust the swarm pattern and motion according to environmental changes and task requirements (Figure 9C). [67][68][69][70][71][72]365,366 In the development of automated swarm control, the underlying physical mechanisms of swarms must be taken into account. For instance, when the field parameters are adjusted to change the swarm pattern and moving direction, the modulation and synchronization of the micro/nanoagents require time to reconfigure themselves.…”

Section: Discussionmentioning

confidence: 99%

“…For instance, simulations on swarm generation and motion ,,,,,− and swarm decision-making in completing cargo transportation in complex environments , have been performed, which validated the proposed models and elucidated the underlying swarm mechanisms. Moreover, through the implementation of machine learning and control loops into the guidance strategies, automated swarm control was realized to precisely adjust the swarm pattern and motion according to environmental changes and task requirements (Figure C). − ,, In the development of automated swarm control, the underlying physical mechanisms of swarms must be taken into account. For instance, when the field parameters are adjusted to change the swarm pattern and moving direction, the modulation and synchronization of the micro/nanoagents require time to reconfigure themselves.…”

Section: Discussionmentioning

confidence: 99%

“…Since the 2000s, controllable microscale (10 –6 m to 10 –3 m) and nanoscale (<10 –6 m) agents, such as helical-shaped microswimmers, , particles, − bacteria, nanowires, , and microactuators, − have been drawing strong attention because of their capability of performing precise delivery and manipulation at the micro/nanoscale. Sophisticated swarming techniques for the micro/nanoagents have also been under intense development, including generation, − pattern reconfiguration, − motion control, , and kinematic models. − More recently, 3D generation − and automated controls − of micro/nanorobotic swarms have been demonstrated. The trend of contemporary micro/nanorobotic swarm research reveals two apparent focuses: (i) to emulate living swarm behaviors to understand natural rules and fundamental mechanisms − and (ii) to develop advanced swarms that enable specific applications, such as therapeutics − and contactless material engineering. − Table summarizes representative milestones in the evolution of robotic swarm technologies.…”

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confidence: 99%

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Micro/Nanorobotic Swarms: From Fundamentals to Functionalities

Law

Tang

et al. 2023

ACS Nano

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Swarms, which stem from collective behaviors among individual elements, are commonly seen in nature. Since two decades ago, scientists have been attempting to understand the principles of natural swarms and leverage them for creating artificial swarms. To date, the underlying physics; techniques for actuation, navigation, and control; fieldgeneration systems; and a research community are now in place. This Review reviews the fundamental principles and applications of micro/ nanorobotic swarms. The generation mechanisms of the emergent collective behaviors among the micro/nanoagents identified over the past two decades are elucidated. The advantages and drawbacks of different techniques, existing control systems, major challenges, and potential prospects of micro/nanorobotic swarms are discussed.

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“…Third, a real-time control strategy is necessary to achieve synchronous operation of collective patterns in a coordinated manner. An adaptive microswarm with cooperative functions encoded will meet multitasking requirements with superior collective intelligence [ 103 , 104 , 105 , 106 , 107 , 108 ]. As an interdisciplinary research field, colloidal microswarm systems require intense research efforts and close collaboration between different fields, including materials, physics, control, robotics, and biomedical engineering.…”

Section: Discussionmentioning

confidence: 99%

Active Micro/Nanoparticles in Colloidal Microswarms

Wang

Jin

2023

Nanomaterials

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Colloidal microswarms have attracted increasing attention in the last decade due to their unique capabilities in various complex tasks. Thousands or even millions of tiny active agents are gathered with distinctive features and emerging behaviors, demonstrating fascinating equilibrium and non-equilibrium collective states. In recent studies, with the development of materials design, remote control strategies, and the understanding of pair interactions between building blocks, microswarms have shown advantages in manipulation and targeted delivery tasks with high adaptability and on-demand pattern transformation. This review focuses on the recent progress in active micro/nanoparticles (MNPs) in colloidal microswarms under the input of an external field, including the response of MNPs to external fields, MNP–MNP interactions, and MNP–environment interactions. A fundamental understanding of how building blocks behave in a collective system provides the foundation for designing microswarm systems with autonomy and intelligence, aiming for practical application in diverse environments. It is envisioned that colloidal microswarms will significantly impact active delivery and manipulation applications on small scales.

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Dynamic Path Planning and Motion Control of Microrobotic Swarms for Mobile Target Tracking

Cited by 19 publications

References 42 publications

Biodegradable Microrobots and Their Biomedical Applications: A Review

Biodegradable Microrobots and Their Biomedical Applications: A Review

Micro/Nanorobotic Swarms: From Fundamentals to Functionalities

Active Micro/Nanoparticles in Colloidal Microswarms

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