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Discrete-event (DE) systems are concurrent programs where components communicate via tagged events, where tags are drawn from a totally ordered set. Reactors are an emerging model of computation based on DE and realized in the open-source…

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…

In our ongoing work, we use constraint automata to compile protocol specifications expressed as Reo connectors into efficient executable code, e.g., in C. We have by now studied this automata based compilation approach rather well, and have…

The work describes the development of a hybrid control architecture for an anthropomorphic tour guide robot, combining a multi-agent resource management system with automatic behavior scenario generation based on large language models. The…

Cellular automata are a discrete dynamical system which models massively parallel computation. Much attention is devoted to computations with small time complexity for which the parallelism may provide further possibilities. In this paper,…

We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…

Human-centred systems require an understanding of human actions in the physical world. Temporally extended sequences of actions are intentional and structured, yet existing methods for recognising what actions are performed often do not…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Multi-agent systems can solve complex tasks through collaboration between multiple Large Language Model agents. Existing collaboration frameworks typically operate in either a parallel or a sequential mode. In the parallel mode, agents…

Multi-robot teams must coordinate to operate effectively. When a team operates in an uncoordinated manner, and agents choose actions that are only individually optimal, the team's outcome can suffer. However, in many domains, coordination…

The behavioral specification of an object-oriented grammar model is considered. The model is based on full lexicalization, head-orientation via valency constraints and dependency relations, inheritance as a means for non-redundant lexicon…

Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

To communicate with new partners in new contexts, humans rapidly form new linguistic conventions. Recent neural language models are able to comprehend and produce the existing conventions present in their training data, but are not able to…

Formal language techniques have been used in the past to study autonomous dynamical systems. However, for controlled systems, new features are needed to distinguish between information generated by the system and input control. We show how…

Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as interactive planners lack formal safety guarantees, while safe…

This paper presents statistical language and translation models based on collections of small finite state machines we call ``head automata''. The models are intended to capture the lexical sensitivity of N-gram models and direct…

The development of self-adaptive software requires the engineering of proper feedback loops where an adaptation logic controls the underlying software. The adaptation logic often describes the adaptation by using runtime models representing…

Biologically inspired auditory models play an important role in developing effective audio representations that can be tightly integrated into speech and audio processing systems. Current computational models of the cochlea are typically…