Autonomous Robots

, Volume 30, Issue 1, pp 57–71 | Cite as

Setpoint regulation for stochastically interacting robots

  • Nils NappEmail author
  • Samuel Burden
  • Eric Klavins
Open Access


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-assembly Master equation Stochastic hybrid system Integral control Chemical kinetics 


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Copyright information

© The Author(s) 2010

Authors and Affiliations

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

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