相关论文: Generic Behaviour Similarity Measures for Evolutio…

An active approach to fault tolerance, the combined processes of fault detection, diagnosis, and recovery, is essential for long term autonomy in robots -- particularly multi-robot systems and swarms. Previous efforts have primarily…

We study the prevalent problem when a test distribution differs from the training distribution. We consider a setting where our training set consists of a small number of sample domains, but where we have many samples in each domain. Our…

In this study, we investigate the emergence of naming conventions within a swarm of robots that collectively forage, that is, collect resources from multiple sources in the environment. While foraging, the swarm explores the environment and…

Animal and robot social interactions are interesting both for ethological studies and robotics. On the one hand, the robots can be tools and models to analyse animal collective behaviours, on the other hand, the robots and their artificial…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

The complexity of a legged robot's environment or task can inform how specialised its gait must be to ensure success. Evolving specialised robotic gaits demands many evaluations - acceptable for computer simulations, but not for physical…

Fish schools present high-efficiency group behaviors through simple individual interactions to collective migration and dynamic escape from the predator. The school behavior of fish is usually a good inspiration to design control…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Inter-individual differences are studied in natural systems, such as fish, bees, and humans, as they contribute to the complexity of both individual and collective behaviors. However, individuality in artificial systems, such as robotic…

Most deep-learning frameworks for understanding biological swarms are designed to fit perceptive models of group behavior to individual-level data (e.g., spatial coordinates of identified features of individuals) that have been separately…

Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…

Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to…

This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…

In the robotics literature, different knowledge transfer approaches have been proposed to leverage the experience from a source task or robot -- real or virtual -- to accelerate the learning process on a new task or robot. A commonly made…

Collective sensing is an emergent phenomenon which enables individuals to estimate a hidden property of the environment through the observation of social interactions. Previous work on collective sensing shows that gregarious individuals…

In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…

In this paper a novelty filter is introduced which allows a robot operating in an un structured environment to produce a self-organised model of its surroundings and to detect deviations from the learned model. The environment is perceived…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

Purpose of review: This paper reviews opportunities and challenges for decentralised control, change-detection, and learning in the context of resilient robot teams. Recent findings: Exogenous fault detection methods can provide a generic…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…