Towards Stochastic Fault-tolerant Control using Precision Learning and Active Inference

no code implementations • 13 Sep 2021 • Mohamed Baioumy, Corrado Pezzato, Carlos Hernandez Corbato, Nick Hawes, Riccardo Ferrari

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference.

Active Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics

1 code implementation • 19 Nov 2020 • Corrado Pezzato, Carlos Hernandez Corbato, Stefan Bonhof, Martijn Wisse

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 formulated as a free-energy minimization problem.

Decision Making

MROS: Runtime Adaptation For Robot Control Architectures

1 code implementation • 19 Oct 2020 • Carlos Hernandez Corbato, Darko Bozhinoski, Mario Garzon Oviedo, Gijs van der Hoorn, Nadia Hammoudeh Garcia, Harshavardhan Deshpande, Jon Tjerngren, Andrzej Wasowski

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS).

Robotics Software Engineering