Active inference in robotics and artificial agents: Survey and challenges
Active inference is a mathematical framework which originated in computational
neuroscience as a theory of how the brain implements action, perception and learning …
neuroscience as a theory of how the brain implements action, perception and learning …
Review of fault-tolerant control systems used in robotic manipulators
A Milecki, P Nowak - Applied Sciences, 2023 - mdpi.com
Control systems that ensure robot operation during failures are necessary, particularly when
manipulators are operating in hazardous or hard-to-reach environments. In such …
manipulators are operating in hazardous or hard-to-reach environments. In such …
An overview of the free energy principle and related research
The free energy principle and its corollary, the active inference framework, serve as
theoretical foundations in the domain of neuroscience, explaining the genesis of intelligent …
theoretical foundations in the domain of neuroscience, explaining the genesis of intelligent …
Kalman filters as the steady-state solution of gradient descent on variational free energy
M Baltieri, T Isomura - arXiv preprint arXiv:2111.10530, 2021 - arxiv.org
The Kalman filter is an algorithm for the estimation of hidden variables in dynamical systems
under linear Gauss-Markov assumptions with widespread applications across different …
under linear Gauss-Markov assumptions with widespread applications across different …
Active inference and behavior trees for reactive action planning and execution in robotics
C Pezzato, CH Corbato, S Bonhof… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
In this article, we propose a hybrid combination of active inference and behavior trees (BTs)
for reactive action planning and execution in dynamic environments, showing how robotic …
for reactive action planning and execution in dynamic environments, showing how robotic …
Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults
This paper is concerned with the control law synthesis for robot manipulators, which
guarantees that the effect of the sensor faults is kept under a permissible level, and ensures …
guarantees that the effect of the sensor faults is kept under a permissible level, and ensures …
Adaptation through prediction: Multisensory active inference torque control
Adaptation to external and internal changes is of major importance for robotic systems in
uncertain environments. Here, we present a novel multisensory active inference (AIF) torque …
uncertain environments. Here, we present a novel multisensory active inference (AIF) torque …
Unbiased active inference for classical control
Active inference is a mathematical framework that originated in computational neuroscience.
Recently, it has been demonstrated as a promising approach for constructing goal-driven …
Recently, it has been demonstrated as a promising approach for constructing goal-driven …
Review on Fault Diagnosis and Fault-Tolerant Control Scheme for Robotic Manipulators: Recent Advances in AI, Machine Learning, and Digital Twin
This comprehensive review article delves into the intricate realm of fault-tolerant control
(FTC) schemes tailored for robotic manipulators. Our exploration spans the historical …
(FTC) schemes tailored for robotic manipulators. Our exploration spans the historical …
Delay Feedback Active Inference based on Predicted States for Uncertain Systems with Input Delay
Active inference (AIF) as a comprehensive theory has been proven to be promising in state
estimation and adaptive control of uncertain systems. However, the input delay in the …
estimation and adaptive control of uncertain systems. However, the input delay in the …