Fig. 2: Navigation algorithm design for a cyborg swarm.
From: Swarm navigation of cyborg-insects in unknown obstructed soft terrain
a The cyborg swarm consists of a leader and several followers. Each cyborg can detect neighbors within a limited sensing range, and distinguish the leader and followers. Only the leader is given the position of the goal. b An illustration of the proposed navigation algorithm. It consists of two parts: motion planning and trajectory tracking. The motion planning algorithm provides the desired positions of cyborgs for the next step based on their local information and passes it to the trajectory-tracking algorithm. The trajectory tracking algorithm computes the corresponding amplitude and types of stimulation (left, right, or acceleration) to be applied to the insects.
