相关论文: A Relaxed Framework for Coordination Control of Di…
Text Simplification improves the readability of sentences through several rewriting transformations, such as lexical paraphrasing, deletion, and splitting. Current simplification systems are predominantly sequence-to-sequence models that…
We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…
This article introduces a generalized framework for Decentralized Learning formulated as a Multi-Objective Optimization problem, in which both distributed agents and a central coordinator contribute independent, potentially conflicting…
A discrete-event simulation (DES) involves the execution of a sequence of event handlers dynamically scheduled at runtime. As a consequence, a priori knowledge of the control flow of the overall simulation program is limited. In particular,…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
We introduce a new framework for distributed computing that extends and refines the standard master-worker approach of scheduling multi-threaded computations. In this framework, there are different roles: a supervisor, a source, a target,…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
We investigate the enforcement of opacity in discrete-event systems via supervisory control. A system is said to be opaque if a passive intruder can never unambiguously infer whether the system is in a secret state through its observations.…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
This work deals with the production planning problem in Discrete Event Systems, using the Supervisory Control Theory to delimit the search universe and developing two heuristics based on the maximization of the parallelism to find sequences…
In decentralized networked supervisory control of discrete-event systems (DESs), the local supervisors observe event occurrences subject to observation delays to make correct control decisions. Delay coobservability describes whether these…
In this work, we investigate the problem of synthesizing property-enforcing supervisors for partially-observed discrete-event systems (DES). Unlike most existing approaches, where the enforced property depends solely on the executed…
In this paper, we consider supervisory control of stochastic discrete event systems (SDESs) under linear temporal logic specifications. Applying the bounded synthesis, we reduce the supervisor synthesis into a problem of satisfying a safety…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
Large language models demonstrate limited capability in proficiency-controlled sentence simplification, particularly when simplifying across large readability levels. We propose a framework that decomposes complex simplifications into…
In discrete-event systems, to save sensor resources, the agent continuously adjusts sensor activation decisions according to a sensor activation policy based on the changing observations. However, new challenges arise for sensor activations…
In order to guarantee that a supervised system satisfies safety requirements of the specification, as well as requirements saying that in certain states certain events must be enabled, this paper introduces required events for discrete…