Related papers: Dynamics-Based Reactive Synthesis and Automated Re…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
We propose a formal design framework for synthesizing coordination and control policies for cooperative multi-agent systems to accomplish a global mission. The global performance requirements are specified as regular languages while…
We present an optimisation-based method for synthesising a dynamic regret optimal controller for linear systems with potentially adversarial disturbances and known or adversarial initial conditions. The dynamic regret is defined as the…
We propose a machine learning framework to synthesize reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration, two-player games over (potentially) infinite graphs. Our…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
There is a growing interest in building autonomous systems that interact with complex environments. The difficulty associated with obtaining an accurate model for such environments poses a challenge to the task of assessing and guaranteeing…
Controller synthesis is the process of constructing a correct system automatically from its specification. This often requires assumptions about the behaviour of the environment. It is difficult for the designer to identify the assumptions…
Despite their apparent diversity, modern machine learning methods can be reduced to a remarkably simple core principle: learning is achieved by continuously optimizing parameters to minimize or maximize a scalar objective function. This…
This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…
We consider a problem on the synthesis of reactive controllers that optimize some a priori unknown performance criterion while interacting with an uncontrolled environment such that the system satisfies a given temporal logic specification.…
Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…
In situations such as habitat construction, station inspection, or cooperative exploration, incorrect assumptions about the environment or task across the team could lead to mission failure. Thus it is important to resolve any ambiguity…
Reactive synthesis is a key technique for the design of correct-by-construction systems and has been thoroughly investigated in the last decades. It consists in the synthesis of a controller that reacts to environment's inputs satisfying a…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
In reactive controller synthesis, a number of implementations (controllers) are possible for a given specification because of the incomplete nature of specification. To choose the most desirable one from the various options, we need to…
Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…