A First-Order Approach to Model Simultaneous Control of Multiple Microrobots
This addresses the challenge of achieving swarm control for microrobots, which is incremental as it builds on existing macro-scale robotic control methods.
The paper tackles the problem of controlling multiple microrobots by proposing a modeling framework based on a dynamic model of magnetized self-propelling Janus microrobots under a global magnetic field, verified experimentally to describe their behavior and simultaneous control.
The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be achieved for microrobots. In this paper, we propose a modeling framework based on a dynamic model of magnetized self-propelling Janus microrobots under a global magnetic field. We verify our model experimentally and provide methods that can aim at accurately describing the behavior of microrobots while modeling their simultaneous control. The model can be generalized to other microrobotic platforms in low Reynolds number environments.