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An important problem in microrobotics is how to control a large group ofmicrorobots with a global control signal. This paper focuses on controlling alarge-scale swarm of MicroStressBots with on-board physical finite-statemachines. We introduce the concept of group-based control, which makes itpossible to scale up the swarm size while reducing the complexity both of robotfabrication as well as swarm control. We prove that the group-based controlsystem is locally accessible in terms of the robot positions. We furtherhypothesize based on extensive simulations that the system is globallycontrollable. A nonlinear optimization strategy is proposed to control theswarm by minimizing control effort. We also propose a probabilisticallycomplete collision avoidance method that is suitable for online use. The paperconcludes with an evaluation of the proposed methods in simulations.

Group-based control of large-scale micro-robot swarms with on-board Physical Finite-State Machines