Online collision-free trajectory generation within a shared workspace is fundamental for most multi-robot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility of underlying optimization. Furthermore, when applied in a distributed manner without a central coordinator, deadlocks often occur where several robots block each other indefinitely. Whereas heuristic methods such as introducing random perturbations exist, no profound analyses are given to validate these measures. Towards this end, we propose a systematic method called infinite-horizon model predictive control with deadlock resolution. The MPC is formulated as a convex optimization over the proposed modified buffered Voronoi with warning band. Based on this formulation, the condition of deadlocks is formally analyzed and proven to be analogous to a force equilibrium. A detection-resolution scheme is proposed, which can effectively detect deadlocks online before they even happen. Once detected, it utilizes an adaptive resolution scheme to resolve deadlocks, under which no stable deadlocks can exist under minor conditions. In addition, the proposed planning algorithm ensures recursive feasibility of the underlying optimization at each time step under both input and model constraints, is concurrent for all robots and requires only local communication. Comprehensive simulation and experiment studies are conducted over large-scale multi-robot systems. Significant improvements on success rate are reported, in comparison with other state-of-the-art methods and especially in crowded and high-speed scenarios.

Neural Operators offer a powerful, data-driven tool for solving parametric PDEs as they can represent maps between infinite-dimensional function spaces. In this work, we employ physics-informed Neural Operators in the context of high-dimensional, Bayesian inverse problems. Traditional solution strategies necessitate an enormous, and frequently infeasible, number of forward model solves, as well as the computation of parametric derivatives. In order to enable efficient solutions, we extend Deep Operator Networks (DeepONets) by employing a RealNVP architecture which yields an invertible and differentiable map between the parametric input and the branch-net output. This allows us to construct accurate approximations of the full posterior, irrespective of the number of observations and the magnitude of the observation noise, without any need for additional forward solves nor for cumbersome, iterative sampling procedures. We demonstrate the efficacy and accuracy of the proposed methodology in the context of inverse problems for three benchmarks: an anti-derivative equation, reaction-diffusion dynamics and flow through porous media.

Abstract-- In legged locomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replanning frequencies. In this work, we propose ContactNet, a fast acyclic contact planner based on a multioutput regression neural network. ContactNet ranks discretized stepping regions, allowing to quickly choose the best feasible solution, even in complex environments. The low computation time, in the order of 1 ms, makes possible the execution of the contact planner concurrently with a trajectory optimizer in a Model Predictive Control (MPC) fashion. Online motion planning for legged robots remains a challenging Further, automatically navigating terrain with constraints problem. The common approach is to use optimization such as stepping stones is generally not possible with such algorithms in a Model Predictive Control (MPC) approaches. When complex motions are desired, the user is loop to automatically generate trajectories based on sensor then usually forced to design a contact plan suitable for the feedback [1], [2], [3], [4].

Recent advances of data-driven machine learning have revolutionized fields like computer vision, reinforcement learning, and many scientific and engineering domains. In many real-world and scientific problems, systems that generate data are governed by physical laws. Recent work shows that it provides potential benefits for machine learning models by incorporating the physical prior and collected data, which makes the intersection of machine learning and physics become a prevailing paradigm. By integrating the data and mathematical physics models seamlessly, it can guide the machine learning model towards solutions that are physically plausible, improving accuracy and efficiency even in uncertain and high-dimensional contexts. In this survey, we present this learning paradigm called Physics-Informed Machine Learning (PIML) which is to build a model that leverages empirical data and available physical prior knowledge to improve performance on a set of tasks that involve a physical mechanism. We systematically review the recent development of physics-informed machine learning from three perspectives of machine learning tasks, representation of physical prior, and methods for incorporating physical prior. We also propose several important open research problems based on the current trends in the field. We argue that encoding different forms of physical prior into model architectures, optimizers, inference algorithms, and significant domain-specific applications like inverse engineering design and robotic control is far from being fully explored in the field of physics-informed machine learning. We believe that the interdisciplinary research of physics-informed machine learning will significantly propel research progress, foster the creation of more effective machine learning models, and also offer invaluable assistance in addressing long-standing problems in related disciplines.

Physics-Informed Neural Networks (PINNs) have gained much attention in various fields of engineering thanks to their capability of incorporating physical laws into the models. PINNs integrate the physical constraints by minimizing the partial differential equations (PDEs) residuals on a set of collocation points. The distribution of these collocation points appears to have a huge impact on the performance of PINNs and the assessment of the sampling methods for these points is still an active topic. In this paper, we propose a Fixed-Budget Online Adaptive Learning (FBOAL) method, which decomposes the domain into sub-domains, for training collocation points based on local maxima and local minima of the PDEs residuals. The effectiveness of FBOAL is demonstrated for non-parameterized and parameterized problems. The comparison with other adaptive sampling methods is also illustrated. The numerical results demonstrate important gains in terms of the accuracy and computational cost of PINNs with FBOAL over the classical PINNs with non-adaptive collocation points. We also apply FBOAL in a complex industrial application involving coupling between mechanical and thermal fields. We show that FBOAL is able to identify the high-gradient locations and even give better predictions for some physical fields than the classical PINNs with collocation points sampled on a pre-adapted finite element mesh built thanks to numerical expert knowledge. From the present study, it is expected that the use of FBOAL will help to improve the conventional numerical solver in the construction of the mesh.

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally applicable to an arbitrary exploration task within an unknown and unstructured subterranean environment and interconnects crucial robotic subsystems to provide full autonomy of the robots. Such subsystems primarily include mapping, path and trajectory planning, localization, control, and decision making. Due to the diversity, complexity, and structural uncertainty of natural cave environments, the proposed system allows for the possible use of any arbitrary exploration strategy for a single robot, as well as for a cooperating team. A multi-robot cooperation strategy that maximizes the limited flight time of each aerial robot is proposed for exploration and search & rescue scenarios where the homing of all deployed robots back to an initial location is not required The entire system is validated in a comprehensive experimental analysis comprising of hours of flight time in a real-world cave environment, as well as by hundreds of hours within a state-of-the-art virtual testbed that was developed for the DARPA Subterranean Challenge robotic competition. Among others, experimental results include multiple real-world exploration flights traveling over 470 meters on a single battery in a demanding unknown cave environment.

Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a constrained workspace; As a trade-off, it has relatively few degrees of freedom (DoFs), resulting in an under-actuation problem with complex constraints for planning and control. This paper proposes a new non-prehensile manipulation method for the task of object retrieval in cluttered environments, using a rod-like pusher. Specifically, a candidate trajectory in a cluttered environment is first generated with an improved Rapidly-Exploring Random Tree (RRT) planner; Then, a Model Predictive Control (MPC) scheme is applied to stabilize the slider's poses through necessary contact with obstacles. Different from existing methods, the proposed approach is with the contact-aware feature, which enables the synthesized effect of active removal of obstacles, avoidance behavior, and switching contact face for improved dexterity. Hence both the feasibility and efficiency of the task are greatly promoted. The performance of the proposed method is validated in a planar object retrieval task, where the target object, surrounded by many fixed or movable obstacles, is manipulated and isolated. Both simulation and experimental results are presented.

We present a machine learning (ML) framework for large-scale dynamical simulations of charge density wave (CDW) states. The charge modulation in a CDW state is often accompanied by a concomitant structural distortion, and the adiabatic evolution of a CDW order is governed by the dynamics of the lattice distortion. Calculation of the electronic contribution to the driving forces, however, is computationally very expensive for large systems. Assuming the principle of locality for electron systems, a neural-network model is developed to accurately and efficiently predict local electronic forces with input from neighborhood configurations. Importantly, the ML model makes possible a linear complexity algorithm for dynamical simulations of CDWs. As a demonstration, we apply our approach to investigate the phase ordering dynamics of the Holstein model, a canonical system of CDW order. Our large-scale simulations uncover an intriguing growth of the CDW domains that deviates significantly from the expected Allen-Cahn law for phase ordering of Ising-type order parameter field. This anomalous domain-growth could be attributed to the complex structure of domain-walls in this system. Our work highlights the promising potential of ML-based force-field models for dynamical simulations of functional electronic materials.

Nowadays, embedded systems are provided with cache memories that are large enough to influence in both performance and energy consumption as never occurred before in this kind of systems. In addition, the cache memory system has been identified as a component that improves those metrics by adapting its configuration according to the memory access patterns of the applications being run. However, given that cache memories have many parameters which may be set to a high number of different values, designers face to a wide and time-consuming exploration space. In this paper we propose an optimization framework based on Grammatical Evolution (GE) which is able to efficiently find the best cache configurations for a given set of benchmark applications. This metaheuristic allows an important reduction of the optimization runtime obtaining good results in a low number of generations. Besides, this reduction is also increased due to the efficient storage of evaluated caches. Moreover, we selected GE because the plasticity of the grammar eases the creation of phenotypes that form the call to the cache simulator required for the evaluation of the different configurations. Experimental results for the Mediabench suite show that our proposal is able to find cache configurations that obtain an average improvement of $62\%$ versus a real world baseline configuration.

The recent evolution in Natural Language Processing (NLP) methods, in particular in the field of argumentation mining, has the potential to transform the way we interact with text, supporting the interpretation and analysis of complex discourse and debates. Can a graphic visualisation of complex argumentation enable a more critical interpretation of the arguments? This study focuses on analysing the impact of argumentation graphs (AGs) compared with regular texts for supporting argument interpretation. We found that AGs outperformed the extrinsic metrics throughout most UEQ scales as well as the NASA-TLX workload in all the terms but not in temporal or physical demand. The AG model was liked by a more significant number of participants, despite the fact that both the text-based and AG models yielded comparable outcomes in the critical interpretation in terms of working memory and altering participants decisions. The interpretation process involves reference to argumentation schemes (linked to critical questions (CQs)) in AGs. Interestingly, we found that the participants chose more CQs (using argument schemes in AGs) when they were less familiar with the argument topics, making AG schemes on some scales (relatively) supportive of the interpretation process. Therefore, AGs were considered to deliver a more critical approach to argument interpretation, especially with unfamiliar topics. Based on the 25 participants conducted in this study, it appears that AG has demonstrated an overall positive effect on the argument interpretation process.