The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We formalize synthesis of shared control protocols with correctness guarantees for temporal logic specifications. More specifically, we introduce a modeling formalism in which both a human and an autonomy protocol can issue commands to a robot towards performing a certain task. These commands are blended into a joint input to the robot. The autonomy protocol is synthesized using an abstraction of...
For systems in which control authority is shared by an autonomous controller and a human operator, it is important to find solutions that achieve a desirable system performance with a reasonable workload for the human operator. We formulate a shared autonomy system capable of capturing the interaction and switching control between an autonomous controller and a human operator, as well as the evolution...
In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our approach for optimizing the port position and...
In the first simulation, the intrinsic motivation of the agent was given by measuring learning progress through reduction in informational surprise (Figure 1 A-C). This way the agent should first learn the action that is easiest to learn (a1), and then switch to other actions that still allow for learning (a2) and ignore actions that cannot be learned at all (a3). This is exactly what we found in...
To interact naturally with humans, robots need to be aware of their own surroundings. This awareness is usually encoded in some implicit or explicit representation of the situated context. In this paper, we present a new framework for constructing rich belief models of the robot's environment. Key to our approach is the use of Markov Logic as a unified framework for inference over these beliefs. Markov...
Synthesizing the reasonable and natural emotion is important to achieve a more effective and believable human-computer interaction. The paper presents an emotion and personality model based on HMM. The emotion process is regarded as a double random process in the model. Different personality traits of intelligent agent can be built by adjusting the parameters of the model. At the same time, as emotion...
This paper introduces the problem of determining through distributed consensus the fastest mixing Markov chain with a desired sparsity pattern. In contrast to the centralized optimization-based problem formulation, we develop a novel distributed relaxation by constructing a dynamical system over the cross product of an appropriately patterned set of stochastic matrices. In particular, we define a...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.