Related papers: Formally Verified Animation for RoboChart using In…
We present an approach for mobile robots to recognize scenes in object arrangements distributed across cluttered environments. Recognition is enabled by intertwining the robot's search for objects and the assignment of found objects to…
This paper describes an architecture for robots that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with logic-based and probabilistic descriptions of uncertainty…
Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods.…
Autonomous systems must sustain justified confidence in their correctness and safety across their operational lifecycle-from design and deployment through post-deployment evolution. Traditional assurance methods often separate…
Designers of autonomous agents, whether in physical or virtual environments, need to express nondeterminisim, failure, and parallelism in behaviors, as well as accounting for synchronous coordination between agents. Behavior Trees are a…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
In this position paper, we study interactive learning for structured output spaces, with a focus on active learning, in which labels are unknown and must be acquired, and on skeptical learning, in which the labels are noisy and may need…
Hoare's Communicating Sequential Processes (CSP) admits a rich universe of semantic models closely related to the van Glabbeek spectrum. In this paper we study finite observational models, of which at least six have been identified for CSP,…
Statechart is a visual modelling language for systems. In this paper, we extend our earlier work on modular statecharts with local variables and present an updated operational semantics for statecharts with concurrency. Our variant of the…
In this paper, we investigate the feasibility of using knowledge graphs to interpret actions and behaviors for robot manipulation control. Equipped with an uncalibrated visual servoing controller, we propose to use robot knowledge graphs to…
Service robots in public spaces require real-time understanding of human behavioral intentions for natural interaction. We present a practical multimodal framework for frame-accurate human-robot interaction intent detection that fuses…
Natural language is an intuitive way for humans to communicate tasks to a robot. While natural language (NL) is ambiguous, real world tasks and their safety requirements need to be communicated unambiguously. Signal Temporal Logic (STL) is…
We present a formal semantics and proof of soundness for shapes schemas, an expressive schema language for RDF graphs that is the foundation of Shape Expressions Language 2.0. It can be used to describe the vocabulary and the structure of…
We present a novel and well automatable approach to formal verification of C programs with underspecified semantics, i.e., a language semantics that leaves open the order of certain evaluations. First, we reduce this problem to…
Realistic trajectory generation with natural language control is pivotal for advancing autonomous vehicle technology. However, previous methods focus on individual traffic participant trajectory generation, thus failing to account for the…
Message Sequence Charts & Sequence Diagrams are graphical models that represent the behavior of distributed and concurrent systems via the scheduling of discrete and local emission and reception events. We propose an Interaction Language…
CCS can be considered as a most natural extension of finite state automata in which interaction is made possible thanks to parallel composition. We propose here a similar extension for top-down tree automata. We introduce a parallel…
The analysis of cyber-physical systems (CPS) is challenging due to the large state space and the continuous changes occurring in their constituent parts. Design practices favor modularity to help reducing this complexity. In a previous…
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot…