相关论文: Evolving Symbolic Controllers
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
What is it about human brains that allows us to reason symbolically whereas most other animals cannot? There is evidence that dynamic binding, the ability to combine neurons into groups on the fly, is necessary for symbolic thought, but…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.) is…
Switched systems constitute an important modeling paradigm faithfully describing many engineering systems in which software interacts with the physical world. Despite considerable progress on stability and stabilization of switched systems,…
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…
As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for…
Robotic agents should be able to learn from sub-symbolic sensor data, and at the same time, be able to reason about objects and communicate with humans on a symbolic level. This raises the question of how to overcome the gap between…
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…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
Humans communicate with graphical sketches apart from symbolic languages. Primarily focusing on the latter, recent studies of emergent communication overlook the sketches; they do not account for the evolution process through which symbolic…
Sensors play a fundamental role in achieving the complex behaviors typically found in biological organisms. However, their potential role in the design of artificial agents is often overlooked. This often results in the design of robots…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
Research in Artificial Intelligence (AI) has focused mostly on two extremes: either on small improvements in narrow AI domains, or on universal theoretical frameworks which are usually uncomputable, incompatible with theories of biological…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Although it has contributed to remarkable improvements in some specific areas, attempts to develop a universal design theory are generally characterized by failure. This paper sketches arguments for a new approach to engineering design…