Actuation-constrained control framework for optimal microswarm navigation with swarm stability guarantee

Xiangyu Chu, Yamei Li, Yunxi Tang, Yangmin Li, Lidong Yang, Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, Multi-scale Medical Robotics Center, Hong Kong SAR, Research Institute of Advanced Manufacturing , Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, PolyU-PUTH Medicine-Engineering Collaborative Innovation Research Laboratory, The Hong Kong Polytechnic University, Hong Kong, The Hong Kong Polytechnic University Shenzhen Research Institute

The International Journal of Robotics Research

Published online on August 01, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Swarm navigation of micro-/nanorobots has been attracting extensive attention, as it is a vital technique for microrobotic applications, for example, targeted drug delivery/therapy and micromanipulation. Researchers have shown that, controlled by a global ...