Robotics: Science and Systems V

Setpoint regulation for stochastically interacting robots

N. Napp, S. Burden and E. Klavins


We present an integral feedback controller that regulates the average copy number of a particular assembly in a system of stochastically interacting robots. The mathematical model for the stochastic system is a tunable reaction network, which makes this approach applicable to a large class of other systems, including ones that exhibit stochastic self assembly at various length scales. We prove that this controller works for a range of set-points, and how to compute this range. Finally, we demonstrate the approach on a physical testbed.



    AUTHOR    = {N. Napp AND S. Burden AND E. Klavins},
    TITLE     = {Setpoint regulation for stochastically interacting robots},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2009},
    ADDRESS   = {Seattle, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2009.V.017}