Related papers: Logic programming for deliberative robotic task pl…
Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior. Underlying these interactions is a mutual understanding that…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
We present a declarative language, PP, for the high-level specification of preferences between possible solutions (or trajectories) of a planning problem. This novel language allows users to elegantly express non-trivial, multi-dimensional…
Transparency is a key requirement for ethical machines. Verified ethical behavior is not enough to establish justified trust in autonomous intelligent agents: it needs to be supported by the ability to explain decisions. Logic Programming…
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…
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Planning is an essential topic in the realm of automated driving. Besides planning algorithms that are widely covered in the literature, planning requires different software tools for its development, validation, and execution. This paper…
In recent years, lightweight large language models (LLMs) have garnered significant attention in the robotics field due to their low computational resource requirements and suitability for edge deployment. However, in task planning --…
Smart factories are on the verge of becoming the new industrial paradigm, wherein optimization permeates all aspects of production, from concept generation to sales. To fully pursue this paradigm, flexibility in the production means as well…
We present a logic programming framework that orchestrates multiple variants of an optimization problem and reasons about their results to support high-stakes medical decision-making. The logic programming layer coordinates the construction…
The goal of inductive logic programming is to induce a logic program (a set of logical rules) that generalises training examples. Inducing programs with many rules and literals is a major challenge. To tackle this challenge, we introduce an…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…