{"id":"https://openalex.org/W7155032344","doi":"https://doi.org/10.1109/tro.2026.3686187","title":"Deep Learning-Based Process Control of Microrobot Swarms Guided by Phase Diagrams","display_name":"Deep Learning-Based Process Control of Microrobot Swarms Guided by Phase Diagrams","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7155032344","doi":"https://doi.org/10.1109/tro.2026.3686187"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3686187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3686187","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5005921992","display_name":"Yuezhen Liu","orcid":"https://orcid.org/0000-0002-5998-0061"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuezhen Liu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5998-0061","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134136418","display_name":"Yifan Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Wu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687681","display_name":"Liu Y","orcid":"https://orcid.org/0000-0002-0994-0109"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0003-5844-2936","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134169314","display_name":"Hui Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Chen","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633632","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0098-5359"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Wang","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4361-606X","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067899676","display_name":"Xingzhou Du","orcid":"https://orcid.org/0000-0002-8526-7286"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingzhou Du","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-8526-7286","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070983260","display_name":"Jiangfan Yu","orcid":"https://orcid.org/0000-0002-7981-6744"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangfan Yu","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7981-6744","affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.612325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"1997","last_page":"2015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.3919999897480011,"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":0.3919999897480011,"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":0.1842000037431717,"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":0.07530000060796738,"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/process","display_name":"Process (computing)","score":0.6089000105857849},{"id":"https://openalex.org/keywords/process-control","display_name":"Process control","score":0.5688999891281128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5059999823570251},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4894999861717224},{"id":"https://openalex.org/keywords/phase-diagram","display_name":"Phase diagram","score":0.37439998984336853},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.33899998664855957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3319000005722046},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.3287000060081482}],"concepts":[{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6089000105857849},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.5688999891281128},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5073999762535095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5059999823570251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49570000171661377},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4894999861717224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40070000290870667},{"id":"https://openalex.org/C85906118","wikidata":"https://www.wikidata.org/wiki/Q186693","display_name":"Phase diagram","level":3,"score":0.37439998984336853},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3253999948501587},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2921999990940094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2824000120162964},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2768000066280365},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25589999556541443},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25450000166893005},{"id":"https://openalex.org/C174998907","wikidata":"https://www.wikidata.org/wiki/Q357662","display_name":"Work in process","level":2,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3686187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3686187","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Microrobot":[0],"swarms":[1,23,67],"with":[2,133],"locomotion":[3],"dexterity":[4],"and":[5,34,39,84,148,159],"shape":[6,83],"reconfigurability":[7],"show":[8],"immense":[9],"potential":[10],"in":[11,24],"biomedical":[12],"applications.":[13],"Automatic":[14],"control":[15,28,42,50,64,144],"strategies":[16],"are":[17,76,93],"critical":[18],"for":[19,66],"the":[20,49,81,109,114,137,142,150],"navigation":[21],"of":[22,37,145],"unstructured":[25,157],"environments.":[26],"Existing":[27],"methods":[29],"mainly":[30],"focus":[31],"on":[32,89],"initial":[33],"final":[35],"states":[36,47,135],"swarms,":[38],"swarm":[40,82,91,99,110,118,121,146,151],"process":[41,51,63,143],"designed":[43,94],"to":[44,79,95,107,124,155],"avoid":[45],"undesired":[46],"throughout":[48],"is":[52,105,122],"yet":[53],"investigated.":[54],"In":[55],"this":[56],"work,":[57],"we":[58],"develop":[59],"a":[60],"deep":[61,73],"learning-based":[62],"strategy":[65],"guided":[68],"by":[69],"phase":[70,102],"diagrams.":[71],"Two":[72],"neural":[74],"networks":[75],"respectively":[77],"built":[78],"model":[80],"kinematics.":[85],"Control":[86],"approaches":[87],"based":[88],"precise":[90],"models":[92],"automatically":[96],"tune":[97],"multiple":[98],"parameters.":[100,119],"A":[101],"diagram-based":[103],"controller":[104],"proposed":[106],"guide":[108],"reconfiguration":[111,132],"while":[112,129],"eliminating":[113],"coupling":[115],"effects":[116],"between":[117],"The":[120],"enabled":[123],"accurately":[125],"track":[126],"predefined":[127],"trajectories":[128],"performing":[130],"continuous":[131],"desired":[134],"during":[136],"entire":[138],"process.":[139],"By":[140],"integrating":[141],"pattern":[147],"locomotion,":[149],"can":[152],"dynamically":[153],"adapt":[154],"constrained":[156],"spaces":[158],"achieve":[160],"robust":[161],"collision":[162],"avoidance.":[163]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-22T00:00:00"}
