Related papers: An Implementation of a Non-monotonic Logic in an E…
A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…
Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…
Coordination protocols help programmers of distributed systems reason about the effects of transactions on the state of the system, but they're not cheap. Coordination protocols may involve multiple rounds of communication, which can hurt…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Large language models (LLMs) have shown an impressive ability to perform tasks believed to require thought processes. When the model does not document an explicit thought process, it becomes difficult to understand the processes occurring…
Embedded Systems combine one or more processor cores with dedicated logic running on an ASIC or FPGA to meet design goals at reasonable cost. It is achieved by profiling the application with variety of aspects like performance, memory…
We present a modular approach for learning policies for navigation over long planning horizons from language input. Our hierarchical policy operates at multiple timescales, where the higher-level master policy proposes subgoals to be…
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…
Deep and shallow embeddings of non-classical logics in classical higher-order logic have been explored, implemented, and used in various reasoning tools in recent years. This paper presents a method for the simultaneous deployment of deep…
This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The…
We address the output regulation problem of linear systems with non-smooth and non-periodic exogenous signals. Specifically, we first formulate and solve the full-information problem by designing a state-feedback controller. We study the…
Automated theorem proving in first-order logic is an active research area which is successfully supported by machine learning. While there have been various proposals for encoding logical formulas into numerical vectors -- from simple…
This thesis concerns the implementation of Lambda Prolog, a higher-order logic programming language that supports the lambda-tree syntax approach to representing and manipulating formal syntactic objects. Lambda Prolog achieves its…
We introduce DeepProbLog, a neural probabilistic logic programming language that incorporates deep learning by means of neural predicates. We show how existing inference and learning techniques of the underlying probabilistic logic…
With the rapid penetration of artificial intelligence across industries and scenarios, a key challenge in building the next-generation intelligent core lies in effectively integrating the language understanding capabilities of foundation…
Deploying embodied AI agents in the physical world demands cognitive capabilities for long-horizon planning that execute reliably, deterministically, and transparently. We present HARMONIC, a cognitive-robotic architecture that pairs…
Cloud computing refers to maximizing efficiency by sharing computational and storage resources, while data-parallel systems exploit the resources available in the cloud to perform parallel transformations over large amounts of data. In the…
Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…
Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…
The combined approach of the Qualitative Reasoning and Probabilistic Functions for the knowledge representation is proposed. The method aims at represent uncertain, qualitative knowledge that is essential for the moving blocks task's…