Related papers: A Mathematical Characterization of Minimally Suffi…

Low-dimensional representations of underdamped systems often provide insightful grasps and analytical tractability. Here, we build such representations via information projections, obtaining an optimal model that captures the most…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

In this position paper we present a novel approach to neurobiologically plausible implementation of emotional reactions and behaviors for real-time autonomous robotic systems. The working metaphor we use is the "day" and "night" phases of…

This paper studies the low-rank matrix completion problem from an information theoretic perspective. The completion problem is rephrased as a communication problem of an (uncoded) low-rank matrix source over an erasure channel. The paper…

Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the…

A robotic network is a system with multiple robots connected by a communication network. Certain tasks that cannot be accomplished with available robotic resources are candidates for the use of cloud robotics, which overcomes the…

In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…

Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…

To realize autonomous collaborative robots, it is important to increase the trust that users have in them. Toward this goal, this paper proposes an algorithm which endows an autonomous agent with the ability to explain the transition from…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Robotic manipulation relies on analytical or learned models to simulate the system dynamics. These models are often inaccurate and based on offline information, so that the robot planner is unable to cope with mismatches between the…

A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…

Time perception is the phenomenological experience of time by an individual. In this paper, we study how to replicate neural mechanisms involved in time perception, allowing robots to take a step towards temporal cognition. Our framework…

In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when…

This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…

In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

A model of sensory information processing is presented. The model assumes that learning of internal (hidden) generative models, which can predict the future and evaluate the precision of that prediction, is of central importance for…

Research in social robotics is commonly focused on designing robots that imitate human behavior. While this might increase a user's satisfaction and acceptance of robots at first glance, it does not automatically aid a non-expert user in…