Vision-Guided Closed-Loop Autonomous Navigation of Light-Driven Janus Microbots

Abstract:Artificial microbots capable of precise and autonomous navigation could provide versatile platforms for microscale transport, manipulation, and task execution in complex environments. However, reliable navigation becomes increasingly challenging at the micrometre scale, particularly when the surrounding environment changes dynamically. Here, we develop a vision-guided closed-loop navigation framework for light-driven cube-shaped hematite/TiO2 Janus microbots with a characteristic size of approximately 3 {\mu}m. Real-time visual localization using a custom-trained YOLOv11 object-detection model is integrated with discretized waypoint-based magnetic steering to enable precise navigation along complex prescribed trajectories, with more than 90% of the measured trajectory deviations remaining below 6 {\mu}m across the tested path geometries. The framework further enables arbitrary user-defined free-hand trajectories and autonomous navigation through a physically confined maze. In dynamically changing environments, A* path planning enables real-time path replanning while avoiding multiple independently swimming 5 {\mu}m spherical Janus micromotors. Finally, the microbot selectively captures multiple cargo particles and autonomously transports and delivers them to a predefined location while simultaneously avoiding dynamic obstacles. These results establish an integrated platform combining programmable trajectory control, autonomous path planning, real-time environmental adaptation, and task execution within a single light-driven Janus microbot system.

Robotics (cs.RO); Soft Condensed Matter (cond-mat.soft)

arXiv:2610.21222 [cs.RO]

(or arXiv:2610.21222v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.21222 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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