Microbiorobotics

Chapter 6

Biological Cell Inspired Stochastic Models and Control

Dejan Milutinović* and Pedro Lima^†

*Applied Mathematics and Statistics, UC Santa Cruz, California, USA

^†ISR – Instituto Superior Tècnico, Lisbon, Portugal

6.1 Introduction

6.2 Swarm robotics and models

6.3 Immune system cell motility

6.4 Hamiltonian approach to open-loop stochastic control

6.4.1 Hybrid systems

6.4.2 Stochastic differential equations

6.5 Summary

References

6.1 Introduction

Following the discovery of microscopy and first observations of the world of microscale particles, stochastic motility was considered a characteristic of particles that are alive [1]. Although it is an incorrect observation, it can serve us as a good first approximation of reality considering ...