相关论文: Correct-by-Construction Design of Contextual Robot…
In this article, the formation mission design problem for commercial aircraft is studied. Given the departure times and the departure and arrival locations of several commercial flights, the relevant weather forecast, and the expected fuel…
Automatic synthesis from a given specification automatically constructs correct implementation. This frees the user from the mundane implementation work, but still requires the specification. But is specifying easier than implementing? In…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
In recent years, many works have investigated the feasibility of conversational robots for performing specific tasks, such as healthcare and interview. Along with this development comes a practical issue: how should we synthesize robotic…
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…
Simulation has become, in many application areas, a sine-qua-non. Most recently, COVID-19 has underlined the importance of simulation studies and limitations in current practices and methods. We identify four goals of methodological work…
Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
Abstract interpretation has been shown to be a promising technique for the thread-modular verification of concurrent programs. Central to this is the generation of interferences, in the form of rely-guarantee conditions, conforming to a…
Intelligent robots must be able to perform safe and efficient motion planning in their environments. Central to modern motion planning is the configuration space. Configuration spaces define the set of configurations of a robot that result…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Current models for software components have made component-based software engineering practical. However, these models are limited in the sense that their support for the characterization/specification of design components primarily deals…
The behavior of concurrent, asynchronous procedures depends in general on the call context, because of the global protocol that governs scheduling. This context cannot be specified with the state-based Hoare-style contracts common in…
For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…
Identifying the cause of a system-level failure in a cyber-physical system (CPS) can be like tracing a needle in a haystack. This paper approaches the problem by assuming that the CPS has been designed compositionally and that each…
Runtime uncertainty such as unpredictable resource unavailability, changing environmental conditions and user needs, as well as system intrusions or faults represents one of the main current challenges of self-adaptive systems. Moreover,…