Related papers: A Mathematical Characterization of Minimally Suffi…
In robotics, gradient-free optimization algorithms (e.g. evolutionary algorithms) are often used only in simulation because they require the evaluation of many candidate solutions. Nevertheless, solutions obtained in simulation often do not…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
The body morphology plays an important role in the way information is perceived and processed by an agent. We address an information theory (IT) account on how the precision of sensors, the accuracy of motors, their placement, the body…
Transactive Memory System (TMS) is a group theory that describes how communication can enable the combination of individual minds into a group. While this theory has been extensively studied in human-human groups, it has not yet been…
Meta-learning automatically infers an inductive bias by observing data from a number of related tasks. The inductive bias is encoded by hyperparameters that determine aspects of the model class or training algorithm, such as initialization…
Inspired by findings of sensorimotor coupling in humans and animals, there has recently been a growing interest in the interaction between action and perception in robotic systems [Bogh et al., 2016]. Here we consider perception and action…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such as what the model could learn online and how quickly could…
Machine learning models have traditionally been developed under the assumption that the training and test distributions match exactly. However, recent success in few-shot learning and related problems are encouraging signs that these models…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…
Minimalistic robot swarms offer a scalable, robust, and cost-effective approach to performing complex tasks with the potential to transform applications in healthcare, disaster response, and environmental monitoring. However, coordinating…
Humans can infer concepts from image pairs and apply those in the physical world in a completely different setting, enabling tasks like IKEA assembly from diagrams. If robots could represent and infer high-level concepts, it would…
An information-theoretic framework known as integrated information theory (IIT) has been introduced recently for the study of the emergence of consciousness in the brain [D. Balduzzi and G. Tononi, PLoS Comput. Biol. 4, e1000091 (2008)].…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…