Related papers: Analysis and Exploitation of Synchronized Parallel…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
Neural networks (NNs) and decision trees (DTs) are both popular models of machine learning, yet coming with mutually exclusive advantages and limitations. To bring the best of the two worlds, a variety of approaches are proposed to…
A music mashup combines audio elements from two or more songs to create a new work. To reduce the time and effort required to make them, researchers have developed algorithms that predict the compatibility of audio elements. Prior work has…
Many species in nature demonstrate symbiotic relationships leading to emergent behaviors through cooperation, which are sometimes beyond the scope of the partnerships within the same species. These symbiotic relationships are classified as…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
Rapidly Exploring Random Trees (RRT) is one of the most widely used algorithms for motion planning in the field of robotics. To reduce the exploration time, RRT-Connect was introduced where two trees are simultaneously formed and eventually…
Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework,…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Dynamic analyses are a standard approach to analyzing and testing concurrent programs. Such techniques observe program traces and analyze them to infer the presence or absence of bugs. At its core, each analysis maintains a partial order…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Synchronous systems provide a basic model of embedded systems and industrial systems are modeled as Simulink diagrams and/or Lustre programs. Although the test generation problem is critical in the development of safe systems, it often…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
A big challenge in algorithmic composition is to devise a model that is both easily trainable and able to reproduce the long-range temporal dependencies typical of music. Here we investigate how artificial neural networks can be trained on…
Multi-task learning (MTL) aims to improve generalization performance by learning multiple related tasks simultaneously. While sometimes the underlying task relationship structure is known, often the structure needs to be estimated from data…
We present a framework that takes a concurrent program composed of unsynchronized processes, along with a temporal specification of their global concurrent behaviour, and automatically generates a concurrent program with synchronization…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and…
Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…