相关论文: Correct-by-Construction Design of Contextual Robot…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…

In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Automatic generation of high-quality commit messages for code commits can substantially facilitate software developers' works and coordination. However, the semantic gap between source code and natural language poses a major challenge for…

This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…

Requirements engineering plays a critical role in developing software systems. One of the most difficult tasks in this process is identifying functional requirements. A critical problem in many projects is missing requirements until late in…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

In our previous work [1], a divide-and-conquer approach was proposed for cooperative tasking among multi-agent systems. The basic idea is to decompose a requested global specification into subtasks for individual agents such that the…

Rules or specifications for autonomous vehicles are currently formulated on a case-by-case basis, and put together in a rather ad-hoc fashion. As a step towards eliminating this practice, we propose a systematic procedure for generating a…

We present a compositional approach to early modeling and analysis of complex aerospace systems based on assume-guarantee contracts. Components in a system are abstracted into assume-guarantee specifications. Performing algebraic contract…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Context: Modern Systems of Systems (SoSs) increasingly operate in dynamic environments (e.g., smart cities, autonomous vehicles) where runtime composition -- the on-the-fly discovery, integration, and coordination of constituent systems…

Pomsets are a model of concurrent computations introduced by Pratt. They can provide a syntax-oblivious description of semantics of coordination models based on asynchronous message-passing, such as Message Sequence Charts (MSCs). In this…

Correctness is a necessary condition for systems to be effective in meeting human demands, thus playing a critical role in system development. However, correctness often manifests as a nebulous concept in practice, leading to challenges in…

Adaptive scheduling is crucial for ensuring the reliability and safety of time-triggered systems (TTS) in dynamic operational environments. Scheduling frameworks face significant challenges, including message collisions, locked loops from…

As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…

Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…