Constrained Optimization for Safe and Visibility-Aware Shared Control of Magnetically Actuated Microrobots

Key Points

• This research aims to develop a method for safe and visibility-aware control of microrobots using constrained optimization.
• Developed a constrained optimization framework for control tasks.
• Implemented shared control strategies for microrobots.
• Evaluated visibility awareness in control scenarios.
• The optimization approach improved the safety of microrobot operations.
• Visibility-aware control resulted in better interaction quality and task efficiency.