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Pezzato, C. (author), Hernández, Carlos (author), Bonhof, S.D. (author), Wisse, M. (author)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 tasks can be formulated as a free-energy minimization problem. The proposed approach allows handling partially observable initial states and improves the...journal article 2023
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Baioumy, Mohamed (author), Pezzato, C. (author), Ferrari, Riccardo M.G. (author), Hernández, Carlos (author), Hawes, Nick (author)This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The...conference paper 2021
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Pezzato, C. (author), Ferrari, Riccardo M.G. (author), Hernández, Carlos (author)More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This letter presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is easily scalable to high degrees-of-freedom, and it maintains high performance even in the presence of...journal article 2020