Multi-Agent Control of Laser-Guided Shape-Memory Alloy Microrobots

Abstract

Microrobots have a high demand for multi-agent control to enhance their effectiveness in performing various tasks. While light is a power source that can control many micro-structures, the range of controllable objects is limited to polymeric structures, simple particles, or bio-cells. This study presents a multi-agent microrobot control platform that utilizes a laser and artificial structures made of a shape-memory alloy (SMA). The SMA microrobots can travel at speeds of up to 150 µm s−1 (2.5 BL s−1) and demonstrate complex path navigation, algorithm-based control, and vision-based feedback control. By utilizing the minimum potential energy algorithm, the paths of microrobots are optimized to perform navigation tasks in the shortest routes, bypassing obstacles. Additionally, the vision system calibrates the paths before every laser scanning cycle. Finally, the SMA microrobot platform with algorithm-based path planning and real-time feedback allows multi-agent control, overcoming inconsistent locomotion caused by the uncertainty of complex microenvironments. As SMAs have a high energy density, fast actuation speed, good chemical resistance, and excellent biocompatibility, these SMA microrobots are expected to open up a wide range of potential applications for micro-robotics in various fields, such as micro-chemical reactions and biomedical devices.