相关论文: Asynchronous Behavior Trees with Memory aimed at A…

For UAV-aided wireless systems, online path planning attracts much attention recently. To better adapt to the real-time dynamic environment, we, for the first time, propose a Monte Carlo Tree Search (MCTS)-based path planning scheme. In…

This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…

In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…

This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…

Asynchronous Federated Learning (AFL) has emerged as a significant research area in recent years. By not waiting for slower clients and executing the training process concurrently, it achieves faster training speed compared to traditional…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Synchronization is a fundamental component of computational models of human behavior, at both intra-personal and inter-personal level. Event synchronization analysis was originally conceived with the aim of providing a simple and robust…

Automated Driving Systems (ADS) development relies on utilizing real-world vehicle data. The volume of data generated by modern vehicles presents transmission, storage, and computational challenges. Focusing on Dynamic Behavior (DB) offers…

The rapid advancements in autonomous vehicle software present both opportunities and challenges, especially in enhancing road safety. The primary objective of autonomous vehicles is to reduce accident rates through improved safety measures.…

We investigate networks of automata that synchronise over common action labels. A graph synchronisation topology between the automata is defined in such a way that two automata are connected iff they can synchronise over an action. We show…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

The focus of this paper is the analysis of real-time systems with recursion, through the development of good theoretical techniques which are implementable. Time is modeled using clock variables, and recursion using stacks. Our technique…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

The searching for the stable patterns in the evolution of cellular automata is implemented using stochastic synchronization between the present structures of the system and its precedent configurations. For most of the known evolution rules…

In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show this in the context of autonomous underwater vehicles (AUVs).…

Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…

Asynchronous learning protocols have regained attention lately, especially in the Federated Learning (FL) setup, where slower clients can severely impede the learning process. Herein, we propose \texttt{AsyncDrop}, a novel asynchronous FL…

CCS can be considered as a most natural extension of finite state automata in which interaction is made possible thanks to parallel composition. We propose here a similar extension for top-down tree automata. We introduce a parallel…

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual…

We propose a novel belief space planning technique for continuous dynamics by viewing the belief system as a hybrid dynamical system with time-driven switching. Our approach is based on the perturbation theory of differential equations and…