{"id":"https://openalex.org/W4391827268","doi":"https://doi.org/10.1109/lra.2024.3366017","title":"Model-Free Control of Magnetic Microrobotic Swarm for On-Demand Pattern Spreading","display_name":"Model-Free Control of Magnetic Microrobotic Swarm for On-Demand Pattern Spreading","publication_year":2024,"publication_date":"2024-02-14","ids":{"openalex":"https://openalex.org/W4391827268","doi":"https://doi.org/10.1109/lra.2024.3366017"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3366017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3366017","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003990051","display_name":"Xuanyu An","orcid":"https://orcid.org/0009-0003-1674-3087"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanyu An","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-1674-3087","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062061403","display_name":"Zichen Xu","orcid":"https://orcid.org/0009-0000-9588-6630"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen Xu","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0000-9588-6630","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101611329","display_name":"Kaiwen Fang","orcid":"https://orcid.org/0009-0008-0220-9226"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiwen Fang","raw_affiliation_strings":["School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0008-0220-9226","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100417691","display_name":"Qianqian Wang","orcid":"https://orcid.org/0000-0001-8011-171X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianqian Wang","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8011-171X","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4741,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.88926829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"9","issue":"4","first_page":"3187","last_page":"3194"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.803571343421936},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6653258204460144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5581400394439697},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4884714186191559},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4555060863494873},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4454185962677002},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.4284449815750122},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36509937047958374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33402979373931885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2652621865272522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2544870972633362},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10103258490562439}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.803571343421936},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6653258204460144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5581400394439697},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4884714186191559},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4555060863494873},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4454185962677002},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.4284449815750122},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36509937047958374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33402979373931885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2652621865272522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2544870972633362},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10103258490562439},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3366017","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3366017","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5214016557","display_name":null,"funder_award_id":"52205590","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6787288006","display_name":null,"funder_award_id":"BK20220834","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1973078839","https://openalex.org/W1980304178","https://openalex.org/W1987336727","https://openalex.org/W2018852726","https://openalex.org/W2108489828","https://openalex.org/W2783069514","https://openalex.org/W2923870875","https://openalex.org/W2937958035","https://openalex.org/W2962918775","https://openalex.org/W2991540136","https://openalex.org/W3003238796","https://openalex.org/W3004467325","https://openalex.org/W3009885068","https://openalex.org/W3030559520","https://openalex.org/W3030989713","https://openalex.org/W3091930040","https://openalex.org/W3120015428","https://openalex.org/W3120938527","https://openalex.org/W3130170116","https://openalex.org/W3161567281","https://openalex.org/W4225596662","https://openalex.org/W4286110778","https://openalex.org/W4289847431","https://openalex.org/W4323363131","https://openalex.org/W4324387195","https://openalex.org/W4377001533","https://openalex.org/W4383872070","https://openalex.org/W4384126584","https://openalex.org/W4385691121","https://openalex.org/W4387010303","https://openalex.org/W4388849927","https://openalex.org/W4389127698","https://openalex.org/W4389180824"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1966857494"],"abstract_inverted_index":{"Introducing":[0],"collective":[1,37,126],"control":[2,31,75,84,95,98,127],"strategies":[3],"to":[4,28,80,108],"microrobots":[5,16,43],"provides":[6],"a":[7,66,86],"promising":[8],"tool":[9],"for":[10,40,163],"enhancing":[11],"the":[12,19,29,47,50,54,61,70,97,105,109,122,125,131,135,141,146,153,166],"capability":[13],"of":[14,49,124,134,145],"individual":[15],"and":[17,32,64,100,119,172],"promoting":[18],"manipulation":[20,173],"performance.":[21],"However,":[22],"controlling":[23,165],"numerous":[24],"micro-agents":[25],"brings":[26],"challenges":[27],"precise":[30],"deployment.":[33],"Herein,":[34],"an":[35,72,160],"on-demand":[36],"spreading":[38,82,110,143],"strategy":[39,162],"magnetic":[41,52],"particle":[42,55,136],"is":[44,78,115],"proposed.":[45],"Under":[46],"actuation":[48],"modulated":[51],"field,":[53],"swarm":[56,132,148,168],"can":[57,149],"spread":[58],"outward":[59],"from":[60],"gathered":[62],"state":[63,133],"reach":[65],"stable":[67],"state.":[68],"During":[69],"process,":[71],"iterative":[73],"learning":[74],"(ILC)-based":[76],"method":[77,114,128],"implemented":[79],"realize":[81],"area":[83,144],"in":[85,129,169],"biological":[87],"fluid":[88],"environment":[89],"(e.g.,":[90],"chicken":[91],"blood).":[92],"The":[93,112],"ILC-based":[94],"reduces":[96],"uncertainty":[99],"non-linearity":[101],"by":[102],"real-time":[103],"connecting":[104],"input":[106],"parameters":[107],"area.":[111],"proposed":[113],"validated":[116],"through":[117],"experiments":[118],"analysis,":[120],"demonstrating":[121,159],"effectiveness":[123],"adjusting":[130],"swarm.":[137],"Results":[138],"show":[139],"that":[140],"specific":[142],"microrobotic":[147,167],"be":[150],"controlled":[151],"with":[152],"experimental":[154],"error":[155],"less":[156],"than":[157],"1%,":[158],"effective":[161],"collectively":[164],"targeted":[170],"delivery":[171],"tasks.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-06-23T13:55:30.953635","created_date":"2025-10-10T00:00:00"}