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

Secure robotics is a multi-disciplinary endeavour for improving the cybersecurity posture of robotic and embodied Artificial Intelligence systems. The article surveys emerging concepts and ideas encapsulating the notion of secure robotics…

Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject to external interaction, potentially leading to poor control…

Developing a safe, stable, and efficient obstacle avoidance policy in crowded and narrow scenarios for multiple robots is challenging. Most existing studies either use centralized control or need communication with other robots. In this…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…

The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based…

Multi-agent autonomous systems (MAS) are better at addressing challenges that spans across multiple domains than singular autonomous agents. This holds true within the field of software engineering (SE) as well. The state-of-the-art…

AI systems are becoming increasingly complex, ubiquitous and autonomous, leading to increasing concerns about their impacts on individuals and society. In response, researchers have begun investigating how to ensure that the methods…

Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, despite RL's generality and scalability. To address this, we propose a new approach to apply verification…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…

Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup…

The Agents, Interaction and Complexity research group at the University of Southampton has a long track record of research in multiagent systems (MAS). We have made substantial scientific contributions across learning in MAS, game-theoretic…

We review state-of-the-art formal methods applied to the emerging field of the verification of machine learning systems. Formal methods can provide rigorous correctness guarantees on hardware and software systems. Thanks to the availability…

Recent advancements in predictive machine learning has led to its application in various use cases in manufacturing. Most research focused on maximising predictive accuracy without addressing the uncertainty associated with it. While…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…