92 citations · 123 across the 10 of their papers we have counts for
10 papers
ROSA: A Knowledge-based Solution for Robot Self-Adaptation
Gustavo Rezende Silva, Juliane Päßler, S. Lizeth Tapia Tarifa +2
Autonomous robots must operate in diverse environments and handle multiple tasks despite uncertainties. This creates challenges in designing software architectures and task decisio…
Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside''
Cosimo Della Santina, Carlos Hernandez Corbato, Burak Sisman +28
Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars…
Runtime Architecture and Task Plan Co-Adaptation for Autonomous Robots with Metaplan
Jeroen M. Zwanepol, Gustavo Rezende Silva, Carlos Hernández Corbato
Autonomous robots need to be able to handle uncertainties when deployed in the real world. For the robot to be able to robustly work in such an environment, it needs to be able to…
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning
Yuezhe Zhang, Corrado Pezzato, Elia Trevisan +3
Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a…
MROS: A framework for robot self-adaptation
Gustavo Rezende Silva, Darko Bozhinoski, Mario Garzon Oviedo +5
Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it…
SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles
Gustavo Rezende Silva, Juliane Päßler, Jeroen Zwanepol +5
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable envi…
Towards Stochastic Fault-tolerant Control using Precision Learning and Active Inference
Mohamed Baioumy, Corrado Pezzato, Carlos Hernandez Corbato +2
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of w…
Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference
Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari +2
This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides u…
Active Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics
Corrado Pezzato, Carlos Hernandez Corbato, Stefan Bonhof +1
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be fo…
A Novel Adaptive Controller for Robot Manipulators based on Active Inference
Corrado Pezzato, Riccardo Ferrari, Carlos Hernandez
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adap…