- document
-
Baioumy, M. (author), Pezzato, C. (author), Ferrari, Riccardo M.G. (author), Hawes, N. (author)Active inference is a mathematical framework that originated in computational neuroscience. Recently, it has been demonstrated as a promising approach for constructing goal-driven behavior in robotics. Specifically, the active inference controller (AIC) has been successful on several continuous control and state-estimation tasks. Despite its...conference paper 2022
- document
-
Baioumy, Mohamed (author), Pezzato, C. (author), Hernández, Carlos (author), Hawes, Nick (author), Ferrari, Riccardo M.G. (author)This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes a binary decision of whether a sensor is healthy (functional) or faulty is made based on measured data. The decision boundary is called a threshold and it is usually deterministic....conference paper 2022
- document
-
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
- document
-
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
- document
-
Pezzato, C. (author), Baioumy, Mohamed (author), Hernández, Carlos (author), Hawes, Nick (author), Wisse, M. (author), Ferrari, Riccardo M.G. (author)We present a fault tolerant control scheme for robot manipulators based on active inference. The proposed solution makes use of the sensory prediction errors in the free-energy to simplify the residuals and thresholds generation for fault detection and isolation and does not require additional controllers for fault recovery. Results...conference paper 2020