Abstract
Magnetic microrobotics has undergone approximately 20 years of development, and the robotics and control communities have contributed significant theoretical and practical results to the motion control aspects of this field. This article introduces fundamental motion principles covering individual, multiagent, and swarm control and critically reviews the state of the art along with representative results. It then describes closed-loop control (an important part of this field), including the system structure, current motion planning and control methods, and current feedback approaches. As the development of motion control in magnetic microrobotics is far from complete, especially for swarm control, its current limitations are discussed. Finally, we conclude with several challenges and future research directions.
| Original language | English |
|---|---|
| Pages (from-to) | 509-534 |
| Number of pages | 26 |
| Journal | Annual Review of Control, Robotics, and Autonomous Systems |
| Volume | 4 |
| DOIs | |
| Publication status | Published - 3 May 2021 |
| Externally published | Yes |
Keywords
- closed-loop control at microscale
- magnetic microrobots
- motion control
- multiagent control
- swarm control
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Control and Systems Engineering
- Engineering (miscellaneous)