Closed-loop Control for a Heterogeneous Group of Magnetically-actuated Microrobots.

The development of magnetically-actuated micro-robots is of great interest for emerging medical applications due to their inherent safety, low cost to manufacture, and flexibility. In many practical applications, precise control over the motion of the microrobots is a strong requirement. In these contexts, closed-loop control is a practical tool to adjust the microrobots' control inputs in real time.

Learning a Tracking Controller for Rolling bots.

Micron-scale robots (bots) have recently shown great promise for emerging medical applications. Accurate control of bots, while critical to their successful deployment, is challenging. In this work, we consider the problem of tracking a reference trajectory using a bot in the presence of disturbances and uncertainty.

A First-Order Approach to Model Simultaneous Control of Multiple Microrobots.

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.