相关论文: Asynchronous Behavior Trees with Memory aimed at A…
The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined plans created offline, hampering the flexibility and autonomy…
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…
The temporal assumptions underpinning conventional Identity and Access Management collapse under agentic execution regimes. A sixty-second revocation window permits on the order of $6 \times 10^3$ unauthorized API calls at 100 ops/tick; at…
As autonomous agents become increasingly sophisticated, validating their sequential behavior presents a significant challenge. Traditional testing approaches require manual specification, exact sequence matching, or thousands of training…
Mutual learning of a pair of tree parity machines with continuous and discrete weight vectors is studied analytically. The analysis is based on a mapping procedure that maps the mutual learning in tree parity machines onto mutual learning…
Cellular Automata (CA) are a class of discrete dynamical systems that have been widely used to model complex systems in which the dynamics is specified at local cell-scale. Classically, CA are run on a regular lattice and with perfect…
We present a framework that takes a concurrent program composed of unsynchronized processes, along with a temporal specification of their global concurrent behaviour, and automatically generates a concurrent program with synchronization…
Multiprocess systems, including grid systems, multiprocessors and multicore computers, incorporate a variety of specialized hardware and software mechanisms, which speed computation, but result in complex memory behavior. As a consequence,…
Fast and reliable state estimation and tracking are essential for real-time situation awareness in Cyber-Physical Systems (CPS) operating in tactical environments or complicated civilian environments. Traditional centralized solutions do…
State-machine replication, a fundamental approach to fault tolerance, requires replicas to execute commands deterministically, which usually results in sequential execution of commands. Sequential execution limits performance and underuses…
Advanced Air Mobility (AAM) is the next generation of air transportation that includes new entrants such as electric vertical takeoff and landing (eVTOL) aircraft, increasingly autonomous flight operations, and small UAS package delivery.…
In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task…
Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
Agentic systems solve complex tasks by coordinating multiple agents that iteratively reason, invoke tools, and exchange intermediate results. To improve robustness and solution quality, recent approaches deploy multiple agent teams running…
Coordinating navigation and manipulation with robust performance is essential for embodied AI in complex indoor environments. However, as tasks extend over long horizons, existing methods often struggle due to catastrophic forgetting,…
Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…
Industrial domains such as automotive, robotics, and aerospace are rapidly evolving to satisfy the increasing demand for machine-learning-driven Autonomy, Connectivity, Electrification, and Shared mobility (ACES). This paradigm shift…
In this paper, an event-based tracker is presented. Inspired by recent advances in asynchronous processing of individual events, we develop a direct matching scheme that aligns spatial distributions of events at different times. More…
Behavior sequences, composed of executable steps, serve as the operational foundation for multi-constraint planning problems such as travel planning. In such tasks, each planning step is not only constrained locally but also influenced by…