相关论文: A Neuromorphic Architecture for Scalable Event-Bas…

Robotic airships offer significant advantages in terms of safety, mobility, and extended flight times. However, their highly restrictive weight constraints pose a major challenge regarding the available computational resources to perform…

Neuromorphic computing systems comprise networks of neurons that use asynchronous events for both computation and communication. This type of representation offers several advantages in terms of bandwidth and power consumption in…

Wearable health devices have a strong demand in real-time biomedical signal processing. However traditional methods often require data transmission to centralized processing unit with substantial computational resources after collecting it…

Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to…

This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…

In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…

Prevailing network control strategies, which rely on static shortest-path logic, suffer from catastrophic "stress concentration" on critical nodes. This paper introduces the System Relaxation Algorithm (SRA), a new control paradigm inspired…

Spiking Neural Networks (SNNs) provide a promising framework for energy-efficient and biologically grounded computation; however, scalable learning in deep recurrent architectures with sparse connectivity remains a major challenge. In this…

Neural Cellular Automata (NCA) are a powerful combination of machine learning and mechanistic modelling. We train NCA to learn complex dynamics from time series of images and PDE trajectories. Our method is designed to identify underlying…

In the fields of computation and neuroscience, much is still unknown about the underlying computations that enable key cognitive functions including learning, memory, abstraction and behavior. This paper proposes a mathematical and…

Reinforcement Learning (RL) provides a powerful framework for decision-making in complex environments. However, implementing RL in hardware-efficient and bio-inspired ways remains a challenge. This paper presents a novel Spiking Neural…

We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly…

Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding such variables, yet neuromorphic…

This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…

Neuromorphic computing aims to incorporate lessons from studying biological nervous systems in the design of computer architectures. While existing approaches have successfully implemented aspects of those computational principles, such as…

Applications in robotics or other size-, weight- and power-constrained autonomous systems at the edge often require real-time and low-energy solutions to large optimization problems. Event-based and memory-integrated neuromorphic…

In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for obtaining zonotopic…

We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…

Programming recurrent spiking neural networks (RSNNs) to robustly perform multi-timescale computation remains a difficult challenge. To address this, we describe a single-shot weight learning scheme to embed robust multi-timescale dynamics…

Nanowire networks are promising memristive architectures for neuromorphic applications due to their connectivity and neurosynaptic-like behaviours. Here, we demonstrate a self-similar scaling of the conductance of networks and the junctions…