Related papers: Integrating active sensing into reactive synthesis…

In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…

In order to generate plans for agents with multiple actuators, agent teams, or distributed controllers, we must be able to represent and plan using concurrent actions with interacting effects. This has historically been considered a…

It is desirable for an agent to be able to solve a rich variety of problems that can be specified through language in the same environment. A popular approach towards obtaining such agents is to reuse skills learned in prior tasks to…

Selective rationalization has become a common mechanism to ensure that predictive models reveal how they use any available features. The selection may be soft or hard, and identifies a subset of input features relevant for prediction. The…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

This study proposes a model of computational consciousness for non-interacting agents. The phenomenon of interest was assumed as sequentially dependent on the cognitive tasks of sensation, perception, emotion, affection, attention,…

As artificial agents display increasingly sophisticated emotion-like behaviors, frameworks for assessing whether such systems risk instantiating consciousness remain limited. This contribution asks whether synthetic emotion-like control can…

This work considers online optimal motion planning of an autonomous agent subject to linear temporal logic (LTL) constraints. The environment is dynamic in the sense of containing mobile obstacles and time-varying areas of interest (i.e.,…

We consider the setting of component-based design for real-time systems with critical timing constraints. Based on our earlier work, we propose a compositional specification theory for timed automata with I/O distinction, which supports…

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…

This paper makes a first step towards a logic of learning from experiments. For this, we investigate formal frameworks for modeling the interaction of causal and (qualitative) epistemic reasoning. Crucial for our approach is the idea that…

Synthesis of program parts is very useful for concurrent systems. However, most synthesis approaches do not support common design tasks, like modifying a single process without having to re-synthesize or verify the whole system.…

Chemical plants are complex and dynamical systems consisting of many components for manipulation and sensing, whose state transitions depend on various factors such as time, disturbance, and operation procedures. For the purpose of…

In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…

Solving multiagent problems can be an uphill task due to uncertainty in the environment, partial observability, and scalability of the problem at hand. Especially in an urban setting, there are more challenges since we also need to maintain…

Various works have aimed at combining the inference efficiency of recurrent models and training parallelism of multi-head attention for sequence modeling. However, most of these works focus on tasks with fixed-dimension observation spaces,…

The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…

Event management in sensor networks is a multidisciplinary field involving several steps across the processing chain. In this paper, we discuss the major steps that should be performed in real- or near real-time event handling including…

We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…

System reliability analysis aims at computing the probability of failure of an engineering system given a set of uncertain inputs and limit state functions. Active-learning solution schemes have been shown to be a viable tool but as of yet…