Swarm navigation of cyborg-insects in unknown obstructed soft terrain.
Yang Bai, Phuoc Thanh Tran Ngoc, Huu Duoc Nguyen, Duc Long Le, Quang Huy Ha, Kazuki Kai, Yu Xiang See To, Yaosheng Deng, Jie Song, Naoki Wakamiya, Hirotaka Sato, Masaki Ogura
Author Information
Yang Bai: Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, 5650871, Osaka, Japan. ORCID
Phuoc Thanh Tran Ngoc: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore. ORCID
Huu Duoc Nguyen: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Duc Long Le: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Quang Huy Ha: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Kazuki Kai: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Yu Xiang See To: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Yaosheng Deng: Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, 5650871, Osaka, Japan. ORCID
Jie Song: Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, 5650871, Osaka, Japan. ORCID
Naoki Wakamiya: Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, 5650871, Osaka, Japan. wakamiya@ist.osaka-u.ac.jp. ORCID
Hirotaka Sato: School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore. hirosato@ntu.edu.sg. ORCID
Masaki Ogura: Graduate School of Information Science and Technology, Osaka University, 1-5 Yamadaoka, Suita, 5650871, Osaka, Japan. oguram@hiroshima-u.ac.jp. ORCID
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex terrain and sustained energy efficiency. Nevertheless, there is a lack of literature on the control of multi-cyborg systems. This research gap is due to the difficulty in coordinating the movements of a cyborg system under the presence of insects' inherent individual variability in their reactions to control input. Regarding this issue, we propose a swarm navigation algorithm and verify it under experiments. This research advances swarm robotics by integrating biological organisms with control theory to develop intelligent autonomous systems for real-world applications.
