14,351 research outputs found
Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)
A new framework is developed for control of constrained nonlinear systems
with structured parametric uncertainties. Forward invariance of a safe set is
achieved through online parameter adaptation and data-driven model estimation.
The new adaptive data-driven safety paradigm is merged with a recent adaptive
control algorithm for systems nominally contracting in closed-loop. This
unification is more general than other safety controllers as closed-loop
contraction does not require the system be invertible or in a particular form.
Additionally, the approach is less expensive than nonlinear model predictive
control as it does not require a full desired trajectory, but rather only a
desired terminal state. The approach is illustrated on the pitch dynamics of an
aircraft with uncertain nonlinear aerodynamics.Comment: Added aCBF non-Lipschitz example and discussion on approach
implementatio
A 'seamless enactment' of citizenship education
Educational undertakings are subject to disjunctures at three separate stages: in the creation of curricular programmes, in the implementation of these curricula in practice and in their effects on students. These disjunctures are the result of complex `leaps' between ends and means, and between ideal and real. This article proposes a response in the form of `seamless enactment', applied here to citizenship education. Seamless enactment involves, first, the harmonisation of the principles underlying the different stages in the passage of the curriculum, avoiding problematic tensions between, for example, democratic aims and undemocratic teaching practices. Second, it requires the involvement of teachers and students in the design and development of the educational initiative, as well as in its implementation. Taken to its fullest extent, seamless enactment involves a unification of the separate stages, leading to the collapsing of the curricular transposition framework onto a single point. Finally, some possible justifications for and potential objections to the notion are considered
Training an adaptive dialogue policy for interactive learning of visually grounded word meanings
We present a multi-modal dialogue system for interactive learning of
perceptually grounded word meanings from a human tutor. The system integrates
an incremental, semantic parsing/generation framework - Dynamic Syntax and Type
Theory with Records (DS-TTR) - with a set of visual classifiers that are
learned throughout the interaction and which ground the meaning representations
that it produces. We use this system in interaction with a simulated human
tutor to study the effects of different dialogue policies and capabilities on
the accuracy of learned meanings, learning rates, and efforts/costs to the
tutor. We show that the overall performance of the learning agent is affected
by (1) who takes initiative in the dialogues; (2) the ability to express/use
their confidence level about visual attributes; and (3) the ability to process
elliptical and incrementally constructed dialogue turns. Ultimately, we train
an adaptive dialogue policy which optimises the trade-off between classifier
accuracy and tutoring costs.Comment: 11 pages, SIGDIAL 2016 Conferenc
Adapting Quality Assurance to Adaptive Systems: The Scenario Coevolution Paradigm
From formal and practical analysis, we identify new challenges that
self-adaptive systems pose to the process of quality assurance. When tackling
these, the effort spent on various tasks in the process of software engineering
is naturally re-distributed. We claim that all steps related to testing need to
become self-adaptive to match the capabilities of the self-adaptive
system-under-test. Otherwise, the adaptive system's behavior might elude
traditional variants of quality assurance. We thus propose the paradigm of
scenario coevolution, which describes a pool of test cases and other
constraints on system behavior that evolves in parallel to the (in part
autonomous) development of behavior in the system-under-test. Scenario
coevolution offers a simple structure for the organization of adaptive testing
that allows for both human-controlled and autonomous intervention, supporting
software engineering for adaptive systems on a procedural as well as technical
level.Comment: 17 pages, published at ISOLA 201
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Many modern nonlinear control methods aim to endow systems with guaranteed
properties, such as stability or safety, and have been successfully applied to
the domain of robotics. However, model uncertainty remains a persistent
challenge, weakening theoretical guarantees and causing implementation failures
on physical systems. This paper develops a machine learning framework centered
around Control Lyapunov Functions (CLFs) to adapt to parametric uncertainty and
unmodeled dynamics in general robotic systems. Our proposed method proceeds by
iteratively updating estimates of Lyapunov function derivatives and improving
controllers, ultimately yielding a stabilizing quadratic program model-based
controller. We validate our approach on a planar Segway simulation,
demonstrating substantial performance improvements by iteratively refining on a
base model-free controller
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