Efficient constant-time addressing scheme for parallel-controlled assembly of stress-engineered MEMS microrobots

This paper proposes a robust control theory framework for accomplishing the micro-assembly of heterogeneous Stress-Engineered MEMS Microrobots. The main goal of this control framework is minimizing the number of external global control signals with respect to the number of controllable microrobots in the system. In this work, all the manipulative control primitives are constructed with the constant number of control pulses. We show that the control strategy is valid by implementing it on multiple macroscale robots that could be modeled as nonholonomic unicycles. We accomplished the planar assembly using such macroscale robots. For our hardware experiment, we use a group of macroscale robots with direct drive wheels. These results show an important step for developing control for multiple MEMS microrobots.