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Stochastic gradient descent (SGD) is a widely adopted iterative method for optimizing differentiable objective functions. In this paper, we propose and discuss a novel approach to scale up SGD in applications involving non-convex functions…
This paper introduces a novel concept, fuzzy-logic-based model predictive control (FLMPC), along with a multi-robot control approach for exploring unknown environments and locating targets. Traditional model predictive control (MPC) methods…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
In this paper, the model predictive control (MPC) problem is investigated for the constrained discrete-time Takagi-Sugeno fuzzy Markovian jump systems (FMJSs) under imperfect premise matching rules. To strike a balance between initial…
A goal of cloud service management is to design self-adaptable auto-scaler to react to workload fluctuations and changing the resources assigned. The key problem is how and when to add/remove resources in order to meet agreed service-level…
Self-adaptive system (SAS) is capable of adjusting its behavior in response to meaningful changes in the operational context and itself. Due to the inherent volatility of the open and changeable environment in which SAS is embedded, the…
Most machine learning and deep neural network algorithms rely on certain iterative algorithms to optimise their utility/cost functions, e.g. Stochastic Gradient Descent. In distributed learning, the networked nodes have to work…
Recently, distributed semi-supervised learning (DSSL) algorithms have shown their effectiveness in leveraging unlabeled samples over interconnected networks, where agents cannot share their original data with each other and can only…
Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of accurate dynamic models. While data-driven approaches like…
This paper proposes a receding horizon active learning and control problem for dynamical systems in which Gaussian Processes (GPs) are utilized to model the system dynamics. The active learning objective in the optimization problem is…
This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…
We introduce Deep Neural Programs (DNP), a novel programming paradigm for writing adaptive controllers for cy-ber-physical systems (CPS). DNP replace if and while statements, whose discontinuity is responsible for undecidability in CPS…
This paper considers a collection of networked nonlinear dynamical systems, and addresses the synthesis of feedback controllers that seek optimal operating points corresponding to the solution of network-wide constrained optimization…
A major limitation of fuzzy or neuro-fuzzy systems is their failure to deal with high-dimensional datasets. This happens primarily due to the use of T-norm, particularly, product or minimum (or a softer version of it). Thus, there are…
Deep Reinforcement Learning (DRL) has made considerable advances in simulated and physical robot control tasks, especially when problems admit a fully observed Markov Decision Process (MDP) formulation. When observations only partially…
This article introduces a novel distributionally robust model predictive control (DRMPC) algorithm for a specific class of controlled dynamical systems where the disturbance multiplies the state and control variables. These classes of…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…