Robotics: Science and Systems II

Optimal Rules for Programmed Stochastic Self-Assembly

E. Klavins, S. Burden and N. Napp

Abstract: In this paper we consider the control of programmable self-assembling systems whose dynamics are governed by stochastic reaction-diffusion dynamics. In our system, particles may decide the outcomes of reactions initiated by the environment thereby steering the global system to produce a desired assembly type. Based on measured natural reaction rates, we describe a method that automatically generates the best program for the parts to use so as to maximize the yield in the system. We demonstrate the design method using theoretical examples as well as on a robotic testbed. Finally, we present a communication protocol that implements the generated programs in a distribute manner.



    AUTHOR    = {E. Klavins and S. Burden and N. Napp},
    TITLE     = {Optimal Rules for Programmed Stochastic Self-Assembly},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2006},
    ADDRESS   = {Philadelphia, USA},
    MONTH     = {August},
    DOI       = {10.15607/RSS.2006.II.002}