Autonomous Robots

, Volume 30, Issue 1, pp 57–71

Setpoint regulation for stochastically interacting robots

Open AccessArticle

DOI: 10.1007/s10514-010-9203-2

Cite this article as:
Napp, N., Burden, S. & Klavins, E. Auton Robot (2011) 30: 57. doi:10.1007/s10514-010-9203-2


We present an integral feedback controller that regulates the average copy number of an assembly in a system of stochastically interacting robots. The mathematical model for these robots 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 setpoints and how to compute this range both analytically and experimentally. Finally, we demonstrate these ideas on a physical testbed.


Stochastic self-assemblyMaster equationStochastic hybrid systemIntegral controlChemical kinetics
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© The Author(s) 2010

Authors and Affiliations

  1. 1.Electrical EngineeringUniversity of WashingtonSeattleUSA
  2. 2.Electrical EngineeringUniversity of California at BerkeleyBerkeleyUSA