相关论文: From Orchestration to Choreography through Contrac…

We study the problem faced by a service provider that has to sell services to a user. In our model the service provider proposes various payment options (a menu) to the user which may be based, for example, on the quality of the service.…

We present a programming model and typing discipline for complex multi-robot coordination programming. Our model encompasses both synchronisation through message passing and continuous-time dynamic motion primitives in physical space. We…

The dynamics of agent-based systems provide a framework to face the complexity of pedestrian-vehicle interactions in future cities, in which the compliance to traffic norms plays a fundamental role. The data of an observation performed at a…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

An important open problem in Human Behaviour is to understand how coordination emerges in human ensembles. This problem has been seldom studied quantitatively in the existing literature, in contrast to situations involving dual interaction.…

With the rise of data-centric process management paradigms, interdependent processes, such as artifacts or object lifecycles, form a business process through their interactions. Coordination processes may be used to coordinate these…

The study of motion in animals and robots has been aided by insights from geometric mechanics. In friction dominated systems, a mechanical "connection" can provide a high fidelity mechanical model. The connection is a co-vector (Lie…

A contract is an economic tool used by a principal to incentivize one or more agents to exert effort on her behalf, by defining payments based on observable performance measures. A key challenge addressed by contracts -- known in economics…

Currently there is great interest in computational models consisting of underlying regular computational environments, and built on them distributed computational structures. Examples of such models are cellular automata, spatial…

Orchestrated multi-agent systems represent the next stage in the evolution of artificial intelligence, where autonomous agents collaborate through structured coordination and communication to achieve complex, shared objectives. This paper…

In service-oriented architecture, services coordinate in one of two ways: directly, using point-to-point communication, or indirectly, through an intermediary called the orchestrator. Orchestrators tend to be more popular because their…

Current robot architectures for modeling interaction behavior are not well suited to the dual task of sequencing discrete actions and incorporating information instantly. Additionally, for communication based on body motion, actions also…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

Collaborative machine learning (CML) provides a promising paradigm for democratizing advanced technologies by enabling cost-sharing among participants. However, the potential for rent-seeking behaviors among parties can undermine such…

This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…

Modular programming is a cornerstone in software development, as it allows to build complex systems from the assembly of simpler components, and support reusability and substitution principles. In a distributed setting, component assembly…

Session types are used to describe and structure interactions between independent processes in distributed systems. Higher-order types are needed in order to properly structure delegation of responsibility between processes. In this paper…

Robots interacting with the physical world plan with models of physics. We advocate that robots interacting with people need to plan with models of cognition. This writeup summarizes the insights we have gained in integrating computational…

Dancers often prototype movements themselves or with each other during improvisation and choreography. How are these interactions altered when physically manipulable technologies are introduced into the creative process? To understand how…