Related papers: Hybrid Control from Scratch: A Design Methodology …
We relate behavior composition, a synthesis task studied in AI, to supervisory control theory from the discrete event systems field. In particular, we show that realizing (i.e., implementing) a target behavior module (e.g., a house…
Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…
A discrete-event simulation (DES) involves the execution of a sequence of event handlers dynamically scheduled at runtime. As a consequence, a priori knowledge of the control flow of the overall simulation program is limited. In particular,…
In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We propose a framework for a multi-robot swarm to fulfill…
Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential…
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…
A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (stability), while avoiding the boundary of the environment…
Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…
Engineering the software development process in robotics is one of the basic necessities towards industrial-strength service robotic systems. A major challenge is to make the step from code-driven to model-driven systems. This is essential…
Autonomous systems, such as self-driving vehicles, quadrupeds, and robot manipulators, are largely enabled by the rapid development of artificial intelligence. However, such systems involve several trustworthy challenges such as safety,…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
The field of autonomous robotics is growing at a rapid rate. The trend to use increasingly more sensors in vehicles is driven both by legislation and consumer demands for higher safety and reliable service. Nowadays, robots are found…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible…
In this paper, we deal with the problem of coordinating multiple robots to build 3-D structures. This problem consists of a set of mobile robots that interact with each other in order to autonomously build a predefined 3-D structure. Our…