Related papers: Execution Semantics of Behavior Trees in Robotic A…
Attack trees are a popular way to represent and evaluate potential security threats on systems or infrastructures. The goal of this work is to provide a framework allowing to express and check whether an attack tree is consistent with the…
Laboratory robotics offer the capability to conduct experiments with a high degree of precision and reproducibility, with the potential to transform scientific research. Trivial and repeatable tasks; e.g., sample transportation for analysis…
Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…
In the last decade, Expression Templates (ET) have gained a reputation as an efficient performance optimization tool for C++ codes. This reputation builds on several ET-based linear algebra frameworks focused on combining both elegant and…
For robots to navigate and interact more richly with the world around them, they will likely require a deeper understanding of the world in which they operate. In robotics and related research fields, the study of understanding is often…
One of the most appreciated features of Fault Trees (FTs) is their simplicity, making them fit into industrial processes. As such processes evolve in time, considering new aspects of large modern systems, modelling techniques based on FTs…
Decision trees (DTs) epitomize what have become to be known as interpretable machine learning (ML) models. This is informally motivated by paths in DTs being often much smaller than the total number of features. This paper shows that in…
A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…
Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to…
The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a result of the execution of several tasks. Moreover, in…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Multi-Robot and Multi-Agent Systems demonstrate collective (swarm) intelligence through systematic and distributed integration of local behaviors in a group. Agents sharing knowledge about the mission and environment can enhance performance…
We present Executable Abstract Programs and analyse their role for software development and documentation. The intuitive understanding of these programs fits the computational mindset of software system engineers and is supported by a…
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…
This paper presents an operational semantics for UML activity diagrams. The purpose of this semantics is three-fold: to give a robust basis for verifying model correctness; to help validate model transformations; and to provide a…
Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning…
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in the literature, especially for physical experiments, is…
Does the effectiveness of neural language models derive entirely from accurate modeling of surface word co-occurrence statistics, or do these models represent and reason about the world they describe? In BART and T5 transformer language…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…