相关论文: Learning Safe Control for Multi-Robot Systems: Met…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

Learning a risk-aware policy is essential but rather challenging in unstructured robotic tasks. Safe reinforcement learning methods open up new possibilities to tackle this problem. However, the conservative policy updates make it…

Multi-agent interaction is a fundamental aspect of autonomous driving in the real world. Despite more than a decade of research and development, the problem of how to competently interact with diverse road users in diverse scenarios remains…

This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…

Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…

Fatal accidents are a major issue hindering the wide acceptance of safety-critical systems using machine-learning and deep-learning models, such as automated-driving vehicles. Quality assurance frameworks are required for such machine…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…

Dependability assurance of systems embedding machine learning(ML) components---so called learning-enabled systems (LESs)---is a key step for their use in safety-critical applications. In emerging standardization and guidance efforts, there…

The desire to use reinforcement learning in safety-critical settings has inspired a recent interest in formal methods for learning algorithms. Existing formal methods for learning and optimization primarily consider the problem of…

The integration of Large Language Models (LLMs) into robotics has revolutionized their ability to interpret complex human commands and execute sophisticated tasks. However, such paradigm shift introduces critical security vulnerabilities…

TThis paper argues that \textbf{a comprehensive vulnerability analysis is essential for building trustworthy Large Language Model-based Multi-Agent Systems (LLM-MAS)}. These systems, which consist of multiple LLM-powered agents working…

Recent advancements in multimodal large language models and vision-languageaction models have significantly driven progress in Embodied AI. As the field transitions toward more complex task scenarios, multi-agent system frameworks are…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Multi-robot target tracking finds extensive applications in different scenarios, such as environmental surveillance and wildfire management, which require the robustness of the practical deployment of multi-robot systems in uncertain and…

Formal methods have provided approaches for investigating software engineering fundamentals and also have high potential to improve current practices in dependability assurance. In this article, we summarise known strengths and weaknesses…