Conclusion

Abstract

This dissertation proposed a unified methodological framework for the model-based, optimal design of SMPs. The notion of SMPs encompass all systems whose dynamics result from the multiple, stochastic interactions of a set of constitutive components endowed with a reactive behavior and minimal sensing, computing, and actuation capabilities, such as sub-centimeter-sized robots, insects, cells, MEMS devices, or molecules. As a result, the spectrum of potential applications of this work ranges from biomedical engineering (where large groups of ultra-small robots are envisioned as both diagnostic and therapeutic tools) to environmental engineering (e.g., spill detection, pollution monitoring, water purfication). The experimental portion of this work is not intended as a proof-of-concept of these anticipated applications; rather, it supports our theoretical and methodological findings, which constitute the main body of our research. In particular, the claims of this dissertation can be articulated as follows.