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

  title={A First-Order Approach to Model Simultaneous Control of Multiple Microrobots},
  author={Logan E. Beaver and Sambeeta Das and Andreas A. Malikopoulos},
  journal={2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)},
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… 

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