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

Autonomously performing tasks often requires robots to plan high-level discrete actions and continuous low-level motions to realize them. Previous TAMP algorithms have focused mainly on computational performance, completeness, or optimality…

In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…

Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…

In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…

Federated continual learning (FCL) allows distributed autonomous fleets to adapt collaboratively to evolving terrain types across extended mission lifecycles. However, current approaches face several key challenges: 1) they use uniform…

Tree-based data structures are ubiquitous across applications. Therefore, a multitude of different tree implementations exist. However, while these implementations are diverse, they share a tree structure as the underlying data structure.…

Episodic memory plays an important role in the behavior of animals and humans. It allows the accumulation of information about current state of the environment in a task-agnostic way. This episodic representation can be later accessed by…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…

Monte Carlo Tree Search (MCTS) is particularly adapted to domains where the potential actions can be represented as a tree of sequential decisions. For an effective action selection, MCTS performs many simulations to build a reliable tree…

As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns. Among these, stealthy attacks, those that evade…

In concurrent data structures, the efficiency of set operations can vary significantly depending on the workload characteristics. Numerous concurrent set implementations are optimized and fine-tuned to excel in scenarios characterized by…

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

Deep neural networks deployed in safety-critical, resource-constrained environments must balance efficiency and robustness. Existing methods treat compression and certified robustness as separate goals, compromising either efficiency or…

Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…

This article presents an artificial intelligence (AI) architecture intended to simulate the iterative updating of the human working memory system. It features several interconnected neural networks designed to emulate the specialized…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

The task of implementing a supervisory controller is non-trivial, even though different theories exist that allow automatic synthesis of these controllers in the form of automata. One of the reasons for this discord is due to the…

With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during run-time becomes crucial. This is so because, in a real world, there can be several physical tasks that use shared resources…