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Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially…

Virtual Reality (VR) co-manipulation enables multiple users to collaboratively interact with shared virtual objects. However, existing research treats objects as monolithic entities, overlooking scenarios where users need to manipulate…

Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…

Resource-constrained embedded and mobile devices are becoming increasingly common. Since few years, some mobile and ubiquitous devices such as wireless sensor, able to be aware of their physical environment, appeared. Such devices enable…

A self-adaptive software system modifies its behavior at runtime in response to changes within the system or in its execution environment. The fulfillment of the system requirements needs to be guaranteed even in the presence of adverse…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

In this dissertation we focus on providing effective adaptations that can be localised and applied to specific concurrent actors, thereby only causing a temporary disruption to the parts of the system requiring mitigation, while leaving the…

The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of the key challenges in applying reinforcement learning to…

Federated Learning has emerged as a leading paradigm for decentralized, privacy-preserving learning, particularly relevant in the era of interconnected edge devices equipped with sensors. However, the practical implementation of Federated…

We consider the Conflict Resolution Problem in the context of a multiple-access system in which several stations can transmit their messages simultaneously to the channel. We assume that there are n stations and that at most k<= n stations…

Several embedded application domains for reconfigurable systems tend to combine frequent changes with high performance demands of their workloads such as image processing, wearable computing and network processors. Time multiplexing of…

Including pairwise interactions between the predictors of a regression model can produce better predicting models. However, to fit such interaction models on typical data sets in biology and other fields can often require solving enormous…

Intelligent mechanisms implemented in autonomous vehicles, such as proactive driving assist and collision alerts, reduce traffic accidents. However, verifying their correct functionality is difficult due to complex interactions with the…

3D integration offers key advantages in improving system performance and efficiency for the End-of-Scaling era. It enables the incorporation of heterogeneous system components and disparate technologies, eliminates off-chip communication…

Algorithm configuration methods optimize the performance of a parameterized heuristic algorithm on a given distribution of problem instances. Recent work introduced an algorithm configuration procedure ("Structured Procrastination") that…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

Recent studies reveal that Convolutional Neural Networks (CNNs) are typically vulnerable to adversarial attacks, which pose a threat to security-sensitive applications. Many adversarial defense methods improve robustness at the cost of…

Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety…

In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…

This paper describes a purely data-driven solution to a class of sequential decision-making problems with a large number of concurrent online decisions, with applications to computing systems and operations research. We assume that while…