相关论文: Improving the Parallel Execution of Behavior Trees

We present Integer Linear Programming (ILP) Modulo Theories (IMT). An IMT instance is an Integer Linear Programming instance, where some symbols have interpretations in background theories. In previous work, the IMT approach has been…

As the industry's interest in machine learning has grown in recent years, some solutions have emerged to safely embed them in safety-critical systems, such as the C code generator ACETONE. However, this framework is limited to generating…

We consider the problem of efficiently simulating population protocols. In the population model, we are given a distributed system of $n$ agents modeled as identical finite-state machines. In each time step, a pair of agents is selected…

An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…

The development of blockchain technologies has enabled the trustless execution of so-called smart contracts, i.e. programs that regulate the exchange of assets (e.g., cryptocurrency) between users. In a decentralized blockchain, the state…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

Data-intensive applications are becoming commonplace in all science disciplines. They are comprised of a rich set of sub-domains such as data engineering, deep learning, and machine learning. These applications are built around efficient…

Concurrent programming is used in all large and complex computer systems. However, concurrency errors and system failures (ex: crashes and deadlocks) are common. We find that Petri nets can be used to model concurrent systems and find and…

Coupling separately developed codes offers an attractive method for increasing the accuracy and fidelity of the computational models. Examples include the earth sciences and fusion integrated modeling. This paper describes the Framework…

Due to their "inherent parallelism", interaction nets have since their introduction been considered as an attractive implementation mechanism for functional programming. We show that a simple highly-concurrent implementation in Haskell can…

Two-player games on finite graphs provide a rigorous foundation for modeling the strategic interaction between reactive systems and their environment. While concurrent game semantics naturally capture the synchronous interactions…

Many modern programming languages are shifting toward a functional style for collection interfaces such as sets, maps, and sequences. Functional interfaces offer many advantages, including being safe for parallelism and providing simple and…

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…

Dynamic programming is a powerful technique that is, unfortunately, often inherently sequential. That is, there exists no unified method to parallelize algorithms that use dynamic programming. In this paper, we attempt to address this issue…

A new neural network architecture (PSCNN) is developed to improve performance and speed of such networks. The architecture has all the advantages of the previous models such as self-organization and possesses some other superior…

Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for…

Ordered sets and maps play important roles as index structures in relational data models. When a shared index in a multi-user system is modified concurrently, the current state of the index will diverge into multiple versions containing the…

We sketch a simple language of concurrent objects which explores the design space between type systems and continuous testing. In our language, programs are collections of communicating automata checked automatically for multiparty…

Models that can simulate how environments change in response to actions can be used by agents to plan and act efficiently. We improve on previous environment simulators from high-dimensional pixel observations by introducing recurrent…

In the rapidly evolving and maturing field of robotics, computer simulation has become an invaluable tool in the design process. Webots, a state-of-the-art robotics simulator, is often the software of choice for robotics research. Even so,…