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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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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