Related papers: Correct-by-Construction Design of Contextual Robot…
Existing techniques of Design by Contract do not allow software developers to specify complete contracts in many cases. Incomplete contracts leave room for malicious implementations. This article complements Design by Contract with a simple…
This paper describes an alignment-based model for interpreting natural language instructions in context. We approach instruction following as a search over plans, scoring sequences of actions conditioned on structured observations of text…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
In order to demonstrate the limitations of assistive robotic capabilities in noisy real-world environments, we propose a Decision-Making Scenario analysis approach that examines the challenges due to user and environmental uncertainty, and…
Science and technology have a growing need for effective mechanisms that ensure reliable, controlled performance from black-box machine learning algorithms. These performance guarantees should ideally hold conditionally on the input-that is…
This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support human activities in construction sites by leveraging two…
It is important to have multi-agent robotic system specifications that ensure correctness properties of safety and liveness. As these systems have concurrency, and often have dynamic environment, the formal specification and verification of…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
Large language models possess impressive capabilities in generating programs (e.g., Python) from natural language descriptions to execute robotic tasks. However, these generated programs often contain errors that violate externally given…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
Robotic systems are typically composed of various subsystems, such as localization and navigation, each encompassing numerous configurable components (e.g., selecting different planning algorithms). Once an algorithm has been selected for a…
Robot allocation plays an essential role in facilitating robotic service provision across various domains. Yet the increasing number of users and the uncertainties regarding the users' true service requirements have posed challenges for the…
Proving correctness of distributed or concurrent algorithms is a mind-challenging and complex process. Slight errors in the reasoning are difficult to find, calling for computer-checked proof systems. In order to build computer-checked…
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a…
Modern engineering systems include many components of different types and functions. Verifying that these systems satisfy given specifications can be an arduous task, as most formal verification methods are limited to systems of moderate…
This paper introduces assume/guarantee contracts on continuous-time control systems, hereby extending contract theories for discrete systems to certain new model classes and specifications. Contracts are regarded as formal characterizations…
Automation systems are increasingly being used in dynamic and various operating conditions. With higher flexibility demands, they need to promptly respond to surrounding dynamic changes by adapting their operation. Context information…