Real-time automated modeling and control of self-assembling systems

Abstract

We present the M 3 framework, a formal and generic computational framework for modeling and controlling stochastic distributed systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework builds up an internal microscopic representation of the system, which then serves as a blueprint of models at higher abstraction levels. These models are then calibrated using a Maximum Likelihood Estimation (MLE) algorithm. We illustrate the structure and performance of the framework by performing the online optimization of a bang-bang controller for the stochastic self-assembly of waterfloating, magnetically latching, passive modules. The experimental results demonstrate that the generated models can successfully optimize the assembly of desired structures.

Characterization and validation of a novel robotic system for fluid-mediated programmable stochastic self-assembly

“…As a result, the obtained structures arise from the physics of the interactions between the building blocks and the forces acting in the system, and are thus fixed and not variable. The controlled SA of magnetically latching passive modules on water has been studied in a previous contribution of our laboratory [6]. The formation of target structures is modeled and controlled automatically and in real-time by a dedicated computational framework, which relies on a graphical description of the states and transitions in the system, resulting in scalability limitations for large swarms.…”

“…1). The system is an extension of our previous work in [6] which demonstrated fully centralized control of SA of passive modules, and is built around the intelligent Lily robots which have been specifically designed for operating in large swarms [1]. Lilies float on water and scavenge their motion from the ambient fluidic flow field.…”

“…While intelligent building blocks can actively take part in the SA process and thus allow for distributed control approaches [2], [3], [4], [5], the SA process of passive building blocks can only be controlled through a centralized approach [6], [7], [8]. Centralized control approaches become 1.…”

Three-dimensional polymeric microtiles for optically-tracked fluidic self-assembly

“…In an earlier study of fluidic SA at centimeter scale, we designed passive blocks with four-fold in-plane rotational symmetry [14]. The blocks floated at the water/air interface and could preserve their vertical orientation throughout entire assembly realizations.…”

“…The microparticles are conceived as passive vehicles to investigate the dynamics of fluidic SA at sub-millimeter scale-as an extension of our previous studies at centimeter scale [14]. The microtiles are fabricated out of the superposition of two structural layers of SU-8 [15] representing chiral copies of the same four-fold symmetric pattern.…”