“…Natural microswimmers usually do not move in homogeneous environments but encounter soft and solid walls, obstacles [12][13][14][15][16], or even more complex environments like the intestinal tract [17], porous soil [18], and blood flow [19]. A heterogeneous environment can be realized in different ways, both in experiments and theory, e.g., by regular or irregular patterns of obstacles [20][21][22][23][24][25][26][27][28][29][30][31][32], mazes [33], arrays of funnels [16,[34][35][36][37][38], pinning substrates [39], or patterned light fields, which control the velocity of the microswimmer [40,41].…”