Related papers: Analysis and Exploitation of Synchronized Parallel…

Using (a,b)-trees as an example, we show how to perform a parallel split with logarithmic latency and parallel join, bulk updates, intersection, union (or merge), and (symmetric) set difference with logarithmic latency and with information…

Heterogeneity and irregularity of multi-source data sets present a significant challenge to time-series analysis. In the literature, the fusion of multi-source time-series has been achieved either by using ensemble learning models which…

Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…

Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…

In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…

Artificial Intelligence has gained a lot of traction in the recent years, with machine learning notably starting to see more applications across a varied range of fields. One specific machine learning application that is of interest to us…

This work unifies insights from the systems and functional programming communities, in order to enable compositional reasoning about software which is nonetheless efficiently realizable in hardware. It exploits a correspondence between…

Interesting and efficient collective behavior observed in multi-robot or swarm systems emerges from the individual behavior of the robots. The functional space of individual robot behaviors is in turn shaped or constrained by the robot's…

Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…

Dynamic techniques are a scalable and effective way to analyze concurrent programs. Instead of analyzing all behaviors of a program, these techniques detect errors by focusing on a single program execution. Often a crucial step in these…

Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verification techniques are essential.…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system. Flight control computer (FCC) units, as well as all important subsystems, are often…

Multivariate time series forecasting with hierarchical structure is widely used in real-world applications, e.g., sales predictions for the geographical hierarchy formed by cities, states, and countries. The hierarchical time series (HTS)…

A concurrent binary tree (CBT) is a GPU-friendly data-structure suitable for the generation of bisection based terrain tessellations, i.e., adaptive triangulations over square domains. In this paper, we expand the benefits of this…

Sampling-based planning has become a de facto standard for complex robots given its superior ability to rapidly explore high-dimensional configuration spaces. Most existing optimal sampling-based planning algorithms are sequential in nature…

This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…

The dynamic trees problem is to maintain a forest subject to edge insertions and deletions while facilitating queries such as connectivity, path weights, and subtree weights. Dynamic trees are a fundamental building block of a large number…

We design and analyse variations of the classical Thompson sampling (TS) procedure for Bayesian optimisation (BO) in settings where function evaluations are expensive, but can be performed in parallel. Our theoretical analysis shows that a…

Generalizing neural networks to unseen target domains is a significant challenge in real-world deployments. Test-time training (TTT) addresses this by using an auxiliary self-supervised task to reduce the domain gap caused by distribution…