Related papers: Dynamics-Based Reactive Synthesis and Automated Re…
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited…
This work presents REFLEX: Robotic Explanations to FaiLures and Human EXpressions, a comprehensive multimodal dataset capturing human reactions to robot failures and subsequent explanations in collaborative settings. It aims to facilitate…
Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…
Robots in real-world environments continuously engage with multiple users and encounter changes that lead to unexpected conflicts in fulfilling user requests. Recent technical advancements (e.g., large-language models (LLMs), program…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Understanding a controller's performance in different scenarios is crucial for robots that are going to be deployed in safety-critical tasks. If we do not have a model of the dynamics of the world, which is often the case in complex…
System Level Synthesis (SLS) parametrization facilitates controller synthesis for large, complex, and distributed systems by incorporating system level constraints (SLCs) into a convex SLS problem and mapping its solution to stable…
Dynamic metabolic control allows key metabolic fluxes to be modulated in real time, enhancing bioprocess flexibility and expanding available optimization degrees of freedom. This is achieved, e.g., via targeted modulation of metabolic…
The aim of my Ph.D. thesis concerns Reasoning in Highly Reactive Environments. As reasoning in highly reactive environments, we identify the setting in which a knowledge-based agent, with given goals, is deployed in an environment subject…
This paper presents a synthesis method for the generalised dynamic regret problem, comparing the performance of a strictly causal controller to the optimal non-causal controller under a weighted disturbance. This framework encompasses both…
In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Representing robotic manipulation tasks as constraints that associate the robot and the environment is a promising way to encode desired robot behaviors. However, it remains unclear how to formulate the constraints such that they are 1)…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
We consider the problem of automatically synthesizing a hybrid controller for non-linear dynamical systems which ensures that the closed-loop fulfills an arbitrary \emph{Linear Temporal Logic} specification. Moreover, the specification may…
We introduce a tableau decision method for deciding realizability of specifications expressed in a safety fragment of LTL that includes bounded future temporal operators. Tableau decision procedures for temporal and modal logics have been…
Controller synthesis is in essence a case of model-based planning for non-deterministic environments in which plans (actually ''strategies'') are meant to preserve system goals indefinitely. In the case of supervisory control environments…
Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…
In this paper, we introduce a novel rule for synthesis of reactive systems, applicable to systems made of n components which have each their own objectives. It is based on the notion of admissible strategies. We compare our novel rule with…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…