相关论文: Supervisory Control for Behavior Composition

In this paper, we investigate the problem of designing event-triggered controllers for containing epidemic processes in complex networks. We focus on a deterministic susceptible-infected-susceptible (SIS) model, which is one of the…

We study a control system resembling a singularly perturbed system whose variables are decomposed into groups that change their values with rates of different orders of magnitude. We establish that the slow trajectories of this system are…

Despite surveillance systems are becoming increasingly ubiquitous in our living environment, automated surveillance, currently based on video sensory modality and machine intelligence, lacks most of the time the robustness and reliability…

We formalize and analyze a new automata-theoretic problem termed control improvisation. Given an automaton, the problem is to produce an improviser, a probabilistic algorithm that randomly generates words in its language, subject to two…

An architectural approach to self-adaptive systems involves runtime change of system configuration (i.e., the system's components, their bindings and operational parameters) and behaviour update (i.e., component orchestration). Thus,…

The complexity of automated driving poses challenges for providing safety assurance. Focusing on the architecting of an Autonomous Driving Intelligence (ADI), i.e. the computational intelligence, sensors and communication needed for high…

Autonomous agents situated in real-world environments must be able to master large repertoires of skills. While a single short skill can be learned quickly, it would be impractical to learn every task independently. Instead, the agent…

With the growing adoption of AI systems, reasoning about how society can exert control over AI becomes an increasingly urgent problem. Existing work on democratic control largely focuses on macro-level governance. In contrast, we propose a…

In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in…

Many classical models of collective behavior assume that emergent dynamics result from external and observable interactions among individuals. However, how collective dynamics in human populations depend on the internal psychological…

Recently we developed supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) with finite behavior. Its essence is the allocation of monolithic (global) control action among the local control…

We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…

Autonomous traffic control systems are large-scale systems with critical goals. Due to the dynamic nature of the surrounding world of these systems, assuring the satisfaction of their properties at runtime and in the presence of a change is…

Group Activity Recognition detects the activity collectively performed by a group of actors, which requires compositional reasoning of actors and objects. We approach the task by modeling the video as tokens that represent the multi-scale…

The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…

Replay in the brain has been viewed as rehearsal, or, more recently, as sampling from a transition model. Here, we propose a new hypothesis: that replay is able to implement a form of compositional computation where entities are assembled…

Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-environment settings. While recent generative…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined…

Diverse studies in systems neuroscience begin with extended periods of curriculum training known as `shaping' procedures. These involve progressively studying component parts of more complex tasks, and can make the difference between…