Setpoint regulation for stochastically interacting robots
Abstract
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. Download: Bibtex: @INPROCEEDINGS{ Napp-RSS-09, 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} }