Negotiating Control: Neurosymbolic Variable Autonomy

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Bakirtzis, Georgios, Chiou, Manolis, Theodorou, Andreas
Format:	Preprint
Published:	2024
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

A Parameter Privacy-Preserving Strategy for Mixed-Autonomy Platoon Control
by: Zhou, Jingyuan, et al.
Published: (2024)

Chance-Constrained Control for Safe Spacecraft Autonomy: Convex Programming Approach
by: Oguri, Kenshiro
Published: (2024)

Navigating the sociotechnical labyrinth: Dynamic certification for responsible embodied AI
by: Bakirtzis, Georgios, et al.
Published: (2024)

Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis
by: Mahesh, Karan, et al.
Published: (2024)

Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
by: Almubarak, Hassan, et al.
Published: (2025)

Scaling Robust Optimization for Multi-Agent Robotic Systems: A Distributed Perspective
by: Abdul, Arshiya Taj, et al.
Published: (2024)

Trust Modeling and Estimation in Human-Autonomy Interactions
by: Williams, Daniel A., et al.
Published: (2025)

Distributed Model Predictive Covariance Steering
by: Saravanos, Augustinos D., et al.
Published: (2022)

Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States
by: Kuperman, Joshua E., et al.
Published: (2023)

Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
by: Niu, Longchen, et al.
Published: (2026)

Stratified Topological Autonomy for Long-Range Coordination (STALC)
by: Duggan, Cora A., et al.
Published: (2025)

An Event-Triggered Framework for Trust-Mediated Human-Autonomy Interaction
by: Williams, Daniel A., et al.
Published: (2024)

A Long-Duration Autonomy Approach to Connected and Automated Vehicles
by: Beaver, Logan E.
Published: (2024)

Terrain Consistent Reference-Guided RL for Humanoid Navigation Autonomy
by: Compton, William D., et al.
Published: (2026)

Towards Unified Probabilistic Verification and Validation of Vision-Based Autonomy
by: Peper, Jordan, et al.
Published: (2025)

Hybrid Autonomy Framework for a Future Mars Science Helicopter
by: Di Pierno, Luca, et al.
Published: (2025)

A Shared-Autonomy Construction Robotic System for Overhead Works
by: Kim, David Minkwan, et al.
Published: (2025)

Census-Based Population Autonomy For Distributed Robotic Teaming
by: Paine, Tyler M., et al.
Published: (2025)

Safe Control Synthesis for Hybrid Systems through Local Control Barrier Functions
by: Yang, Shuo, et al.
Published: (2023)

Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
by: Cherenson, Daniel M., et al.
Published: (2025)

High-Speed, All-Terrain Autonomy: Ensuring Safety at the Limits of Mobility
by: Baxter, James R., et al.
Published: (2026)

CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
by: Black, Mitchell, et al.
Published: (2024)

A Mini-Review on Mobile Manipulators with Variable Autonomy
by: Contreras, Cesar Alan, et al.
Published: (2024)

Auxiliary-Variable Adaptive Control Barrier Functions for Safety Critical Systems
by: Liu, Shuo, et al.
Published: (2023)

Neural Configuration Distance Function for Continuum Robot Control
by: Long, Kehan, et al.
Published: (2024)

Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
by: Kazemipour, Amirhossein, et al.
Published: (2022)

Assistance-Seeking in Human-Supervised Autonomy: Role of Trust and Secondary Task Engagement (Extended Version)
by: Mangalindan, Dong Hae, et al.
Published: (2024)

Compositional shield synthesis for safe reinforcement learning in partial observability
by: Carr, Steven, et al.
Published: (2025)

GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
by: Majd, Keyvan, et al.
Published: (2025)

PreGME: Prescribed Performance Control of Aerial Manipulators based on Variable-Gain ESO
by: Ji, Mengyu, et al.
Published: (2025)

Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
by: Parwana, Hardik, et al.
Published: (2024)

Autonomous Locomotion Mode Transition in Quadruped Track-Legged Robots: A Simulation-Based Analysis for Step Negotiation
by: Wang, Jie, et al.
Published: (2019)

On the Analysis of Stability, Sensitivity and Transparency in Variable Admittance Control for pHRI Enhanced by Virtual Fixtures
by: Tebaldi, Davide, et al.
Published: (2025)

Safe Physical Human-Robot Interaction through Variable Impedance Control based on ISO/TS 15066
by: Ghanbarzadeh, Armin, et al.
Published: (2023)

A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography
by: Beber, Luca, et al.
Published: (2023)

Bayesian Methods for Trust in Collaborative Multi-Agent Autonomy
by: Hallyburton, R. Spencer, et al.
Published: (2024)

Variable-Impedance Muscle Coordination under Slow-Rate Control Frequencies and Limited Observation Conditions Evaluated through Legged Locomotion
by: Asai, Hidaka, et al.
Published: (2025)

Variable Aerodynamic Damping via Co-Contraction: A Dynamic Isomorphism with Variable Stiffness Actuators
by: Franchi, Antonio
Published: (2026)

MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
by: Tuck, Victoria Marie, et al.
Published: (2025)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
VUFIND_SESSION	"74cbe74f4ffa95a2e096cd3c146b3f49"
language	"en"
ui	"standard"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790867547.2538 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "74cbe74f4ffa95a2e096cd3c146b3f49" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"VUFIND_SESSION=74cbe74f4ffa95a2e096cd3c146b3f49; language=en; ui=standard"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.147"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"61212"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2407_16254/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2407_16254/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790867547.2428
REQUEST_TIME	1790867547

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
VUFIND_SESSION	"74cbe74f4ffa95a2e096cd3c146b3f49"
language	"en"
ui	"standard"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790867547.2538 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "74cbe74f4ffa95a2e096cd3c146b3f49" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"VUFIND_SESSION=74cbe74f4ffa95a2e096cd3c146b3f49; language=en; ui=standard"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.147"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"61212"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2407_16254/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2407_16254/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790867547.2428
REQUEST_TIME	1790867547

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Similar Items

Similar Items

Environment & details:

Environment & details: