  This study focuses on improving the ability of cyborg insects to navigate
autonomously during search and rescue missions in outdoor environments. We
propose an algorithm that leverages data from an IMU to calculate orientation
and position based on the insect's walking gait. These computed factors serve
as essential feedback channels across 3 phases of our exploration. Our method
functions without relying on external systems. The results of our trials,
carried out in both indoor (4.8 x 6.6 m^2) and outdoor (3.5 x 6.0 m^2)
settings, show that the cyborg insect is capable of seeking a human without
knowing the human's position. This exploration strategy would help to bring
terrestrial cyborg insects closer to practical application in real-life search
and rescue (SAR) missions.
