Related papers: From Formalised State Machines to Implementations …
Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…
For a mobile robot to be truly autonomous, it must solve the simultaneous localization and mapping (SLAM) problem. We develop a new metaheuristic algorithm called Simulated Tom Thumb (STT), based on the detailed adventure of the clever Tom…
Neuro-electronic hybrid promises to bring up a model architecture for computing. Such computing architecture could help to bring the power of biological connection and electronic circuits together for better computing paradigm. Such…
We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…
In this work, we present a test-driven, agentic framework for synthesizing a deployable low-level robot controller for navigation tasks. Given a 2D map with an image of an ultrasonic sensor-based robot, or a 3D robotic simulation…
A long-term goal of artificial intelligence is to have an agent execute commands communicated through natural language. In many cases the commands are grounded in a visual environment shared by the human who gives the command and the agent.…
A computational system is called autonomous if it is able to make its own decisions, or take its own actions, without human supervision or control. The capability and spread of such systems have reached the point where they are beginning to…
Intuitively, an (implementation) automata is simulated by a (specification) automata if every externally observable transition by the implementation automata can also be made by the specification automata. In this work, we present a…
Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…
This paper describes (R)ules (o)f (T)he (R)oad (A)dvisor, an agent that provides recommended and possible actions to be generated from a set of human-level rules. We describe the architecture and design of RoTRA, both formally and with an…
Control systems are ubiquitous in modern technology, comprising an engineered plant to be kept within specific, often fine-tuned, limits, and a separate controller that ensures this is the case. While modern controllers often employ digital…
We investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that…
Interactions within human societies are usually regulated by social norms. If robots are to be accepted into human society, it is essential that they are aware of and capable of reasoning about social norms. In this paper, we focus on how…
Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level of the system (i.e., the whole swarm) and its properties.…
Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and validation in a controlled environment. This testing process…
While there has been a lot of research recently on robots in household environments, at the present time, most robots in existence can be found on shop floors, and most interactions between humans and robots happen there. ``Collaborative…
Algorithms which learn environments represented by automata in the past have had complexity scaling with the number of states in the automaton, which can be exponentially large even for automata recognizing regular expressions with a small…
Simulink/Stateflow charts are widely used in industry for the specification of control systems, which are often safety-critical. This suggests a need for a formal treatment of such models. In previous work, we have proposed a technique for…