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<p>Terrestrial insect–machine hybrid systems have long been proposed for complex terrains such as post-disaster search and rescue (SAR) missions. Previously, methods for human detection and autonomous navigation algorithms reliant on external localization were developed for these tasks. The next challenge is exploring unknown regions using only onboard sensors. Here, we propose a three-phase exploration strategy: Phase I rapidly searches for targets; Phase II approaches them to gather more information; and Phase III reliably classifies the target. To enable outdoor use, we introduce an IMU-based localization algorithm that estimates position and orientation from gait. Experiments show that this system achieves a 2D position error of ≤1 m (≈5%) without external tracking. Demonstrations in indoor (4.8 × 6.6 m²) and outdoor (3.5 × 6.0 m²) arenas confirm the strategy’s feasibility and accuracy, bringing the insect–machine hybrid system closer to practical deployment.</p>

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Gait-adaptive IMU-enhanced exploration strategy for autonomous search and rescue with insect-machine hybrid system

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年7月9日

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  • Phuoc Thanh Tran-Ngoc,
  • Huu Duoc Nguyen,
  • Duc Long Le,
  • Rui Li,
  • Bing Sheng Chong,
  • Hirotaka Sato

摘要

Terrestrial insect–machine hybrid systems have long been proposed for complex terrains such as post-disaster search and rescue (SAR) missions. Previously, methods for human detection and autonomous navigation algorithms reliant on external localization were developed for these tasks. The next challenge is exploring unknown regions using only onboard sensors. Here, we propose a three-phase exploration strategy: Phase I rapidly searches for targets; Phase II approaches them to gather more information; and Phase III reliably classifies the target. To enable outdoor use, we introduce an IMU-based localization algorithm that estimates position and orientation from gait. Experiments show that this system achieves a 2D position error of ≤1 m (≈5%) without external tracking. Demonstrations in indoor (4.8 × 6.6 m²) and outdoor (3.5 × 6.0 m²) arenas confirm the strategy’s feasibility and accuracy, bringing the insect–machine hybrid system closer to practical deployment.