Related papers: Hybrid Control from Scratch: A Design Methodology …
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
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…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
Advances in artificial intelligence (AI) including large language models (LLMs) and hybrid reasoning models present an opportunity to reimagine how autonomous robots such as drones are designed, developed, and validated. Here, we…
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
We propose a formal approach for specifying and implementing decentralised coordination in distributed systems, with a focus on smart contracts. Our model captures dynamic roles, data-driven transitions, and external coordination…
Recent advances in machine learning technologies and sensing have paved the way for the belief that safe, accessible, and convenient autonomous vehicles may be realized in the near future. Despite tremendous advances within this context,…
This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
This paper surveys the area of Trust Metrics related to security for autonomous robotic systems. As the robotics industry undergoes a transformation from programmed, task oriented, systems to Artificial Intelligence-enabled learning, these…
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data needs to be processed in real-time and high degrees of…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
The interest in autonomous systems is increasing both in industry and academia. Such systems must operate with limited human intervention in a changing environment and must be able to compensate for significant system failures without…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
Automated driving systems can be helpful in a wide range of societal challenges, e.g., mobility-on-demand and transportation logistics for last-mile delivery, by aiding the vehicle driver or taking over the responsibility for the dynamic…
The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…
A controller for a Discrete Event System must achieve its goals despite that its environment being capable of resolving race conditions between controlled and uncontrolled events.Assuming that the controller loses all races is sometimes…