相关论文: From Orchestration to Choreography through Contrac…
A software architecture describes the structure of a computing system by specifying software components and their interactions. Mapping a software architecture to an implementation is a well known challenge. A key element of this mapping is…
We propose an extension of Hybrid I/O Automata (HIOAs) to model agent systems and their implicit communication through perturbation of the environment, like localization of objects or radio signals diffusion and detection. The new object,…
Deploying service robots in our daily life, whether in restaurants, warehouses or hospitals, calls for the need to reason on the interactions happening in dense and dynamic scenes. In this paper, we present and benchmark three new…
Service composition has become commonplace nowadays, in large part due to the increased complexity of software and supporting networks. Composition can be of many types, for instance sequential, prioritising, non-deterministic. However, a…
From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding…
We study a model ecosystem by means of dynamical techniques from disordered systems theory. The model describes a set of species subject to competitive interactions through a background of resources, which they feed upon. Additionally…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
The shift from monolithic applications to composition of distributed software initiated in the early twentieth, is based on the vision of software-as-service. This vision, found in many technologies such as RESTful APIs, advocates globally…
This work establishes fundamental principles for verifying contract for interconnected hybrid systems. When system's hybrid arcs conform to the contract for a certain duration but subsequently violate it, the composition of hybrid dynamical…
Cooperation is vital to our survival and progress. Evolutionary game theory offers a lens to understand the structures and incentives that enable cooperation to be a successful strategy. As artificial intelligence agents become integral to…
Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or…
Oscillatory activity is ubiquitous in natural and engineered network systems. The interaction scheme underlying interdependent oscillatory components governs the emergence of network-wide patterns of synchrony that regulate and enable…
Concept-based explainability methods provide insight into deep learning systems by constructing explanations using human-understandable concepts. While the literature on human reasoning demonstrates that we exploit relationships between…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Unsupervised skill learning aims to learn a rich repertoire of behaviors without external supervision, providing artificial agents with the ability to control and influence the environment. However, without appropriate knowledge and…
Synchronous coordination systems allow the exchange of data by logically indivisible actions involving all coordinated entities. This paper introduces behavioural automata, a logically synchronous coordination model based on the Reo…
We argue that the coordination of the activities of individual complex agents enables a system to develop and sustain complexity at a higher level. We exemplify relevant mechanisms through computer simulations of a toy system, a coupled map…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…