Related papers: Co-Design of Autonomous Systems: From Hardware Sel…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Soft robots have proven to outperform traditional robots in applications related to propagation in geometrically constrained environments. Designing these robots and their controllers is an intricate task, since their building materials…
We study robot construction problems where multiple autonomous robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of…
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…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
Robot co-design, jointly optimizing morphology and control policy, remains a longstanding challenge in the robotics community, where many promising robots have been developed. However, a key limitation lies in its tendency to converge to…
Cyber-physical technologies are prone to attacks, in addition to faults and failures. The issue of protecting cyber-physical systems should be tackled by jointly addressing security at both cyber and physical domains, in order to promptly…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
Autonomy is fundamental for artificial agents acting in complex real-world scenarios. The acquisition of many different skills is pivotal to foster versatile autonomous behaviour and thus a main objective for robotics and machine learning.…
Autonomous navigation for Unmanned Aerial Vehicles faces key challenges from limited onboard computational resources, which restrict deployed deep neural networks to shallow architectures incapable of handling complex environments.…
We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we…
We propose a novel game-theoretic approach for drone service composition considering recharging constraints. We design a non-cooperative game model for drone services. We propose a non-cooperative game algorithm for the selection and…
We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…
Despite rapid evolution, embedded computing systems increasingly feature resource constraints and workload uncertainties. To achieve much better system performance in unpredictable environments than traditional design approaches, a novel…
One of the main challenges in integrating Cyber-Physical System-of-Systems (CPSoS) to function as a single unified system is the autonomy of its Cyber-Physical Systems (CPSs), which may lead to a lack of coordination among CPSs and results…
The recent attention towards research and development in cyber-physical energy systems has introduced the necessity of emerging multi-domain co-simulation tools. Different educational, research and industrial efforts have been set to tackle…
In this paper, we present a heterogeneous robot swarm system that can physically couple with each other to form functional structures and dynamically decouple to perform individual tasks. The connection between robots can be formed with a…
A Multi-hop Control Network consists of a plant where the communication between sensors, actuators and computational units is supported by a (wireless) multi-hop communication network, and data flow is performed using scheduling and routing…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…