Adaptive Autonomous Navigation of Multiple Optoelectronic Microrobots in Dynamic Environments

The optoelectronic microrobot is an advanced light-controlled micromanipulation technology which has particular promise for collecting and transporting sensitive microscopic objects such as biological cells. However, wider application of the technology is currently limited by a reliance on manual control and a lack of methods for simultaneous manipulation of multiple microrobotic actuators. In this letter, we present a computational framework for autonomous navigation of multiple optoelectronic microrobots in dynamic environments. Combining closed-loop visual-servoing, SLAM, real-time visual detection of microrobots and obstacles, dynamic path-finding and adaptive motion behaviors, this approach allows microrobots to avoid static and moving obstacles, and perform a range of tasks in real-world dynamic environments. The capabilities of the system are demonstrated through micromanipulation experiments in simulation and in real conditions using a custom built optoelectronic tweezer system.