相关论文: From Orchestration to Choreography through Contrac…

The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…

As people coordinate in daily interactions, they engage in different patterns of behavior to achieve successful outcomes. This includes both synchrony - the temporal coordination of the same behaviors at the same time - and complementarity…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

Model selection is a problem that has occupied machine learning researchers for a long time. Recently, its importance has become evident through applications in deep learning. We propose an agreement-based learning framework that prevents…

In a recent paper, we analyzed the self-assembly of a complex cooperation network. The network was shown to approach a state where every agent invests the same amount of resources. Nevertheless, highly-connected agents arise that extract…

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…

Most of the grand challenges of humanity today involve complex agent-based systems, such as epidemiology, economics or ecology. However, remains as a pending task the challenge of identifying the general principles underlying their…

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…

Many real-world systems of coupled agents exhibit directed interactions, meaning that the influence of an agent on another is not reciprocal. Furthermore, interactions usually do not have identical amplitude and/or sign. To describe…

Self-organization is a process where a stable pattern is formed by the cooperative behavior between parts of an initially disordered system without external control or influence. It has been introduced to multi-agent systems as an internal…

We present a parametric calculus for contract-based computing in distributed systems. By abstracting from the actual contract language, our calculus generalises both the contracts-as-processes and contracts-as-formulae paradigms. The…

In dynamic simulation of complete wheel loaders, one interesting aspect, specific for the working task, is the momentary power distribution between drive train and hydraulics, which is balanced by the operator. This paper presents the…

This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights,…

This paper investigates the problem of coordinating several agents through their actions. Although the methodology applies to general scenarios, the present work focuses on a situation with an asymmetric observation structure that only…

Multi-agent large language model systems can tackle complex multi-step tasks by decomposing work and coordinating specialized behaviors. However, current coordination mechanisms typically rely on statically assigned roles and centralized…

Effectively capturing the joint distribution of all agents in a scene is relevant for predicting the true evolution of the scene and in turn providing more accurate information to the decision processes of autonomous vehicles. While new…

A fundamental understanding of synchronized behavior in multi-agent systems can be acquired by studying analytically tractable Kuramoto models. However, such models typically diverge from many real systems whose dynamics evolve under…

We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…

This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…