# 面向多智能体微机器人的光电子使能电驱动 Janus 粒子同步解耦导航与选择性配对

> 原文链接：https://robotics.hellobike.com/papers/2026-10-10-2610-14560
> 频道：papers | 更新日期：2026-10-10 | 标签：arxiv, cs.RO
> 核心摘要：提出基于可编程虚拟电极的光电子策略，在光导表面上验证多 Janus 粒子的独立导航、选择性配对与磁滚动操控。

# 面向多智能体微机器人的光电子使能电驱动 Janus 粒子同步解耦导航与选择性配对

::: v-pre
> 原文链接：[Optoelectronically Enabled Simultaneous and Decoupled Navigation and Selective Pairing of Electrically Driven Janus Particles for Multi-Agent Microrobotics](https://arxiv.org/abs/2610.14560)（arXiv 2610.14560 · 发布日期：2026-10-10）

**Optoelectronically Enabled Simultaneous and Decoupled Navigation and Selective Pairing of Electrically Driven Janus Particles for Multi-Agent Microrobotics**

提出基于可编程虚拟电极的光电子策略，在光导表面上验证多 Janus 粒子的独立导航、选择性配对与磁滚动操控。

## 核心要点

- 全局电、磁或光场会使所有粒子同时响应，阻碍独立并发控制。
- 用 DMD 将预定义照明图案投射到光导表面，生成可编程虚拟电极。
- 形成的约束景观使多个 Janus 粒子无需持续监测或反馈即可沿不同轨迹运动。
- 实验展示与被动聚苯乙烯粒子和生物细胞的受控配对，并实现多磁滚动粒子的独立操控。

**验证范围与局限**：验证范围为光导表面上的微尺度粒子操控，包括 Janus 粒子导航、选择性配对和全局磁场下的磁滚动操控。

## 英文摘要 (Abstract)

Self-propelled Janus particles are promising active agents for microscale manipulation and microrobotic applications. However, when powered by a global external energy source, such as an electric, magnetic, or optical field, all particles respond simultaneously, preventing their independent and concurrent control. Achieving parallel, decoupled control without continuous particle-specific feedback, while preserving intrinsic self-propulsion, remains a significant challenge. Here, we present an optoelectronic (OE) strategy for simultaneously and independently controlling electrically driven, self-propelled metallo-dielectric Janus particles (JPs) using spatially programmable virtual electrodes. These electrodes are generated by projecting a single predefined illumination pattern from a digital micromirror device onto a photoconductive surface. The resulting confinement landscape enables multiple JPs to follow distinct trajectories without continuous monitoring, feedback, or pattern reconfiguration. We demonstrate controlled pairing of JPs with passive polystyrene particles and biological cells. For automated multi-agent operation, an image-based assignment framework identifies optimal agent-target pairs, excludes intersecting trajectories, and generates a single composite pattern for simultaneous, selective pair formation without real-time updating. Finally, we demonstrate independent manipulation of multiple magnetically rolling JPs under a globally applied magnetic field. Overall, this programmable open-loop strategy provides a versatile framework for multi-agent microrobotic manipulation, with potential applications in in-vitro micromanipulation and microfluidic systems.

作者：Srikanta Debata, Ido Rachbuch, Gilad Yossifon
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## 原始参考来源 (Sources)

- [arXiv 2610.14560：Optoelectronically Enabled Simultaneous and Decoupled Navigation and Selective Pairing of Electrically Driven Janus Particles for Multi-Agent Microrobotics](https://arxiv.org/abs/2610.14560)