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arXiv · 2403.17392

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
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Abstract

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.

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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. 2024-03-26. Swarm navigation of cyborg-insects in unknown obstructed soft terrain. https://arxiv.org/abs/2403.17392

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