Related papers: Behavior coordination for self-adaptive robots usi…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
This paper proposes a self-adaptation mechanism to manage the resources allocated to the different species comprising a cooperative coevolutionary algorithm. The proposed approach relies on a dynamic extension to the well-known multi-armed…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Dynamic software adaptability is one of the central features leveraged by autonomic computing. However, developing software that changes its behavior at run time adapting to the operational conditions is a challenging task. Several…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
We propose a framework for deployment and subsequent autonomic management of component-based distributed applications. An initial deployment goal is specified using a declarative constraint language, expressing constraints over aspects such…
In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…
We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Self-adaptive systems are capable of adjusting their behavior to cope with the changes in environment and itself. These changes may cause runtime uncertainty, which refers to the system state of failing to achieve appropriate…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…