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The paper presents a new formal way of modeling and designing reconfigurable robots, in which case the robots are allowed to reconfigure not only structurally but also functionally. We call such kind of robots "self-evolvable", which have…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Construction project governance relies on agreements between the actors along the construction industry value chain. The mutual obligations arising from these contracts rely on timely monetary transactions. Despite the advantages of…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…
Automatic choreography generation is a challenging task because it often requires an understanding of two abstract concepts - music and dance - which are realized in the two different modalities, namely audio and video, respectively. In…
Design by Contract (DbC) and runtime enforcement of program assertions enables the construction of more robust software. It also enables the assignment of blame in error reporting. Unfortunately, there is no support for runtime contract…
We propose a process calculus, named AbC, to study the behavioural theory of interactions in collective-adaptive systems by relying on attribute-based communication. An AbC system consists of a set of parallel components each of which is…
Automatic speech recognition models require large amounts of speech recordings for training. However, the collection of such data often is cumbersome and leads to privacy concerns. Federated learning has been widely used as an effective…
Decentralized applications (dApps) consist of smart contracts that run on blockchains and clients that model collaborating parties. dApps are used to model financial and legal business functionality. Today, contracts and clients are written…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
We propose here to look at how abstract a model of a usable system can be, but still say something useful and interesting, so this paper is an exercise in abstraction and formalisation, with usability-of-design as an example target use. We…
This paper proposes a novel end-to-end architecture for task-oriented dialogue systems. It is based on a simple and practical yet very effective sequence-to-sequence approach, where language understanding and state tracking tasks are…
In federated learning, models are learned from users' data that are held private in their edge devices, by aggregating them in the service provider's "cloud" to obtain a global model. Such global model is of great commercial value in, e.g.,…
Dancers often prototype movements themselves or with each other during improvisation and choreography. How are these interactions altered when physically manipulable technologies are introduced into the creative process? To understand how…
Model-driven engineering is the automatic production of software artefacts from abstract models of structure and functionality. By targeting a specific class of system, it is possible to automate aspects of the development process, using…
Programming distributed applications free from communication deadlocks and races is complex. Preserving these properties when applications are updated at runtime is even harder. We present DIOC, a language for programming distributed…
The models of peer to peer protocols are presented with the help of one-step processes. On the basis of this presentation and the method of randomization of one-step processes described method for constructing models of peer to peer…
Formal methods refer to rigorous, mathematical approaches to system development and have played a key role in establishing the correctness of safety-critical systems. The main building blocks of formal methods are models and specifications,…
We present time-constrained automata (TCA), a model for hard real-time computation in which agents behaviors are modeled by automata and constrained by time intervals. TCA actions can have multiple start time and deadlines, can be…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…