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

TL;DR

This paper introduces a dynamic modeling framework for controlling multiple magnetized Janus microrobots simultaneously, verified experimentally, and applicable to other microrobotic systems in low Reynolds number environments.

Contribution

It presents a novel modeling approach for the collective control of microrobots, validated through experiments, and generalizable to various microrobotic platforms.

Findings

Model accurately describes microrobot behavior

Experimental verification confirms model validity

Framework applicable to different microrobotic systems

Abstract

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.