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To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
In recent years, state-of-the-art traffic-control devices have evolved from standalone hardware to networked smart devices. Smart traffic control enables operators to decrease traffic congestion and environmental impact by acquiring…
We study verification problems for history-constrained systems (HCS), a model of guarded computation that uses nested systems. An outer system describes the process architecture in which a sequence of actions represents the communication…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
Many packing, scheduling and covering problems that were previously considered by computer science literature in the context of various transportation and production problems, appear also suitable for describing and modeling various…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
The author has long enjoyed using the CSP refinement checker FDR to solve puzzles, as witnessed by examples in \cite{tpc,ucs}. Recent experiments have shown that a number of games of patience (card games for one) are now well within bounds.…
We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…
Significant progress has been recently achieved in developing efficient solutions for simple stochastic games (SSGs), focusing on reachability objectives. While reductions from stochastic parity games (SPGs) to SSGs have been presented in…
We provide a generic decision procedure for energy games with energy-bounded attacker and reachability objective, moving beyond vector-valued energies and vector-addition updates. All we demand is that energies form well-founded bounded…
Avoidance games are games in which two players claim vertices of a hypergraph and try to avoid some structures. These games are studied since the introduction of the game of SIM in 1968, but only few complexity results are known on them. In…
Since humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have…
In this article, we study the decision-making process of chess players by using a chess engine to evaluate the moves across different pools of games. We quantified the decisiveness of each move during the games using a metric derived from…
We present two conceptually new modeling approaches aimed at describing the motion of pedestrians in obscured corridors: * a Becker-D\"{o}ring-type dynamics * a probabilistic cellular automaton model. In both models the group formation is…
The evolution of cooperation is a central enigma in evolutionary game theory. Traditionally, the combination of pairwise networks and repeated Public Goods Games with a single state fails to adequately describe realistic group interaction…
In this paper we propose a dynamic Stackelberg game-theoretic model for urban freight transportation planning which is able to characterize the interaction between freight and personal transportation in an urban area. The problem is…
This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player…
In many navigational domains the traversability of cells is conditioned on the path taken. This is often the case in video-games, in which a character may need to acquire a certain object (i.e., a key or a flying suit) to be able to…
To operate safely and efficiently, autonomous warehouse/delivery robots must be able to accomplish tasks while navigating in dynamic environments and handling the large uncertainties associated with the motions/behaviors of other robots…