{"id":"https://openalex.org/W7118175273","doi":"https://doi.org/10.1109/tase.2026.3650946","title":"Machine Learning Achieves Accurate and Smooth Navigation Control for Microrobots","display_name":"Machine Learning Achieves Accurate and Smooth Navigation Control for Microrobots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7118175273","doi":"https://doi.org/10.1109/tase.2026.3650946"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3650946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3650946","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5100594980","display_name":"Yamei Li","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yamei Li","raw_affiliation_strings":["Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121966089","display_name":"Ruijian Ge","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruijian Ge","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121976292","display_name":"Yun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun Wang","raw_affiliation_strings":["Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010213246","display_name":"Yangmin LI","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yangmin Li","raw_affiliation_strings":["Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121923114","display_name":"Lidong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lidong Yang","raw_affiliation_strings":["Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, Research Institute for Advanced Manufacturing, The Hong Kong Polytechnic University (PolyU), Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100594980"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05269978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"2391","last_page":"2402"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9840999841690063,"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":0.9840999841690063,"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":0.003100000089034438,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.0017999999690800905,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/process","display_name":"Process (computing)","score":0.6025999784469604},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5598000288009644},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5356000065803528},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46399998664855957},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4564000070095062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4422000050544739},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3995000123977661},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.39259999990463257}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6579999923706055},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6025999784469604},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5598000288009644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5493999719619751},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5356000065803528},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46399998664855957},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4523000121116638},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44830000400543213},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3995000123977661},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.39259999990463257},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.38499999046325684},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3483999967575073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3481999933719635},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3061999976634979},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2587999999523163},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2554999887943268},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3650946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3650946","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3","score":0.6946970224380493}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1976221960","https://openalex.org/W2145339207","https://openalex.org/W2581684883","https://openalex.org/W2594355207","https://openalex.org/W2884519054","https://openalex.org/W2965740025","https://openalex.org/W2994446013","https://openalex.org/W3001651518","https://openalex.org/W3016536947","https://openalex.org/W3081573251","https://openalex.org/W3088310808","https://openalex.org/W3112742959","https://openalex.org/W3126321819","https://openalex.org/W3203771368","https://openalex.org/W4205482802","https://openalex.org/W4205666764","https://openalex.org/W4206275947","https://openalex.org/W4210818687","https://openalex.org/W4280598010","https://openalex.org/W4285126995","https://openalex.org/W4293150143","https://openalex.org/W4296704820","https://openalex.org/W4307028200","https://openalex.org/W4311927090","https://openalex.org/W4319731339","https://openalex.org/W4383108504","https://openalex.org/W4389127698","https://openalex.org/W4389987375","https://openalex.org/W4390696307","https://openalex.org/W4391827343","https://openalex.org/W4391992596","https://openalex.org/W4393139796","https://openalex.org/W4393241287","https://openalex.org/W4396826533","https://openalex.org/W4400081497","https://openalex.org/W4400521264","https://openalex.org/W4400644222","https://openalex.org/W4402082338","https://openalex.org/W4403209986","https://openalex.org/W4404937422","https://openalex.org/W4406416207","https://openalex.org/W4408423496","https://openalex.org/W4410848928","https://openalex.org/W4415262105","https://openalex.org/W4416748774","https://openalex.org/W4417438919"],"related_works":[],"abstract_inverted_index":{"Automated":[0],"navigation":[1,48],"control":[2,30,46,56,128],"of":[3,57,84,177],"microrobots":[4],"in":[5,169],"complex":[6],"environments":[7],"is":[8,118],"essential":[9],"for":[10,27,70,104,139,179],"applications":[11],"such":[12],"as":[13,152],"targeted":[14],"drug":[15],"delivery":[16],"and":[17,35,47,53,98,127,137,141,158,172],"micromanipulation.":[18],"Recently,":[19],"machine":[20],"learning":[21],"(ML)":[22],"has":[23],"shown":[24],"great":[25],"potential":[26],"automated":[28],"microrobot":[29,74,181],"but":[31],"still":[32],"lacks":[33],"accuracy":[34,171],"smoothness.":[36],"In":[37],"this":[38,112],"work,":[39],"we":[40,147],"propose":[41],"a":[42,72,81,114],"novel":[43],"Learning-from-Demonstration":[44],"(LfD)-based":[45],"framework":[49,77],"to":[50,65,121,133],"achieve":[51],"precise":[52],"smooth":[54,140],"motion":[55],"microrobots.":[58],"This":[59],"work":[60],"represents":[61],"an":[62,153],"early":[63],"attempt":[64],"directly":[66],"utilize":[67],"expert-provided":[68],"data":[69],"designing":[71],"learning-based":[73],"controller.":[75],"The":[76],"begins":[78],"by":[79],"collecting":[80],"small":[82],"dataset":[83],"expert":[85],"demonstrations":[86],"(several":[87],"thousand":[88],"episodes)":[89],",":[90],"from":[91],"which":[92],"the":[93,102,123,131,149,162,175],"controller":[94],"learns":[95],"compensatory":[96],"behaviors":[97],"task-specific":[99],"adaptability,":[100],"eliminating":[101],"need":[103],"extensive":[105],"exploration":[106],"or":[107],"parameter":[108],"retuning.":[109],"Based":[110],"on":[111],"data,":[113],"time-series":[115],"neural":[116],"network":[117],"then":[119],"developed":[120],"process":[122],"microrobot\u2019s":[124],"historical":[125],"states":[126],"actions,":[129],"allowing":[130],"system":[132],"capture":[134],"sequential":[135],"dependencies":[136],"transitions":[138],"accurate":[142],"path":[143],"tracking.":[144],"For":[145],"demonstration,":[146],"take":[148],"magnetic":[150],"microswarm":[151],"illustrative":[154],"example.":[155],"Systematic":[156],"simulations":[157],"comparative":[159],"experiments":[160],"validate":[161],"proposed":[163],"framework,":[164],"demonstrating":[165],"its":[166],"superior":[167],"performance":[168],"tracking":[170],"smoothness,":[173],"validating":[174],"efficacy":[176],"ML":[178],"low-level":[180],"control.":[182]},"counts_by_year":[],"updated_date":"2026-01-26T23:06:41.788003","created_date":"2026-01-05T00:00:00"}
