Publications @ GOALS

2020

  • [PDF] M. Rigter, B. Lacerda, and N. Hawes, “A Framework for Learning from Demonstration with Minimal Human Effort,” Robotics and Automation Letters (RA-L), 2020.
    [Bibtex]
    @article{2020ICRA_rigter,
    author = {Rigter, Marc and Lacerda, Bruno and Hawes, Nick},
    title = {A Framework for Learning from Demonstration with Minimal Human Effort},
    journal = {Robotics and Automation Letters (RA-L)},
    year = {2020},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2020ICRA_rigter.pdf},
    }
  • [PDF] C. Street, B. Lacerda, M. Mühlig, and N. Hawes, “Multi-Robot Planning Under Uncertainty with Congestion-Aware Models,” in 19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Auckland, New Zealand, 2020.
    [Bibtex]
    @inproceedings{2020AAMAS_street,
    title={Multi-Robot Planning Under Uncertainty with Congestion-Aware Models},
    author={Street, Charlie and Lacerda, Bruno and Mühlig, Manuel and Hawes, Nick},
    booktitle={19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
    address={Auckland, New Zealand},
    month = {May},
    year = {2020},
    organization={IFAAMAS},
    pdf={http://www.robots.ox.ac.uk/~mobile/Papers/2020AAMAS_street.pdf},
    }
  • [PDF] C. Street, “Towards Multi-Robot Coordination under Temporal Uncertainty,” in 19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Auckland, New Zealand, 2020.
    [Bibtex]
    @inproceedings{2020AAMAS_street,
    author = {Street, Charlie},
    title = {Towards Multi-Robot Coordination under Temporal Uncertainty},
    booktitle = {19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
    address = {Auckland, New Zealand},
    year = {2020},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2020AAMAS_street2.pdf},
    }
  • [PDF] C. Azevedo, B. Lacerda, N. Hawes, and P. Lima, “Long-Run Multi-Robot Planning With Uncertain Task Durations,” in 19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2020.
    [Bibtex]
    @InProceedings{azevedo_aamas20,
    author = {Azevedo, Carlos and Lacerda, Bruno and Hawes, Nick and Lima, Pedro},
    title = {Long-Run Multi-Robot Planning With Uncertain Task Durations},
    booktitle = {19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
    year = {2020},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/lra-ExtAbs-aamas2020.pdf},
    }
  • [PDF] M. Painter, B. Lacerda, and N. Hawes, “Convex Hull Monte-Carlo Tree Search,” in The International Conference on Automated Planning and Scheduling (ICAPS), 2020.
    [Bibtex]
    @InProceedings{2020ICAPS_painter,
    author = {Painter, Michael and Lacerda, Bruno and Hawes, Nick},
    title = {Convex Hull Monte-Carlo Tree Search},
    booktitle = {The International Conference on Automated Planning and Scheduling (ICAPS)},
    year = {2020},
    url = {https://arxiv.org/abs/2003.04445},
    Pdf = {https://arxiv.org/abs/2003.04445},
    }
  • [DOI] M. Baioumy, M. Mattamala, P. Duckworth, B. Lacerda, and N. Hawes, “Adaptive Manipulator Control using Active Inference with Precision Learning,” in UKRAS20 Conference: “Robots into the real world” Proceedings, Lincoln, United Kingdom, 2020.
    [Bibtex]
    @InProceedings{2020UKRAS_baioumy,
    author = {Baioumy, Mohamed and Mattamala, Matias and Duckworth, Paul and Lacerda, Bruno and Hawes, Nick},
    title = {Adaptive Manipulator Control using Active Inference with Precision Learning},
    booktitle = {UKRAS20 Conference: "Robots into the real world" Proceedings},
    year = {2020},
    address = {Lincoln, United Kingdom},
    month = {May},
    doi = {https://doi.org/10.31256/Gz8Eu7C},
    }
  • [PDF] M. Baioumy, M. Mattamala, and N. Hawes, “Variational Inference for Predictive and Reactive Controllers,” in ICRA 2020 Workshop on New advances in Brain-inspired Perception, Interaction and Learning, Paris, France, 2020.
    [Bibtex]
    @InProceedings{2020ICRA_baioumy,
    author = {Baioumy, Mohamed and Mattamala, Matias and Hawes, Nick},
    title = {Variational Inference for Predictive and Reactive Controllers},
    booktitle = {ICRA 2020 Workshop on New advances in Brain-inspired Perception, Interaction and Learning},
    address = {Paris, France},
    year = {2020},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/Brain-PIL_2020_paper_7.pdf},
    }
  • [PDF] M. Budd, B. Lacerda, P. Duckworth, A. West, B. Lennox, and N. Hawes, “Markov Decision Processes with Unknown State Feature Values for Safe Exploration using Gaussian Processes,” in Proc. of the 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020.
    [Bibtex]
    @InProceedings{budd_iros20,
    author = {Matthew Budd and Bruno Lacerda and Paul Duckworth and Andrew West and Barry Lennox and Nick Hawes},
    title = {{M}arkov Decision Processes with Unknown State Feature Values for Safe Exploration using {G}aussian Processes},
    booktitle = {Proc. of the 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2020},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/budd_iros20.pdf},
    }
  • [PDF] C. Azevedo, B. Lacerda, N. Hawes, and P. Lima, “Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks,” in Proc. of the 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020.
    [Bibtex]
    @InProceedings{azevedo_iros20,
    author = {Carlos Azevedo and Bruno Lacerda and Nick Hawes and Pedro Lima},
    title = {Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks},
    booktitle = {Proc. of the 2020 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
    year = {2020},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/azevedo_iros20.pdf},
    }

2019

  • [PDF] B. Lacerda, F. Faruq, D. Parker, and N. Hawes, “Probabilistic planning with formal performance guarantees for mobile service robots,” International Journal of Robotics Research, 2019.
    [Bibtex]
    @Article{IJRR2019_lacerda,
    author = {Lacerda, Bruno and Faruq, Fatma and Parker, David and Hawes, Nick},
    title = {Probabilistic planning with formal performance guarantees for mobile service robots},
    journal = {International Journal of Robotics Research},
    year = {2019},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/lacerda_ijrr.pdf},
    }
  • [PDF] M. Mansouri, B. Lacerda, N. Hawes, and F. Pecora, “Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints,” in Proceedings of the 2019 International Joint Conference on Artificial Intelligence (IJCAI), Macau, China, 2019.
    [Bibtex]
    @InProceedings{IJCAI19_mansouri,
    author = {Mansouri, Masoumeh and Lacerda, Bruno and Hawes, Nick and Pecora, Federico},
    title = {Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints},
    year = {2019},
    address = {Macau, China},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/IJCAI19_mansouri.pdf},
    booktitle = {Proceedings of the 2019 International Joint Conference on Artificial Intelligence (IJCAI)},
    }
  • [PDF] S. Ishida, M. Rigter, and N. Hawes, “Robot Path Planning for Multiple Target Regions,” in Proceedings of the 2019 European Conference on Mobile Robots (ECMR), Prague, Czech Republic, 2019.
    [Bibtex]
    @InProceedings{2019ECMR_ishida,
    author = {Ishida, Shu and Rigter, Marc and Hawes, Nick},
    title = {Robot Path Planning for Multiple Target Regions},
    booktitle = {Proceedings of the 2019 European Conference on Mobile Robots (ECMR)},
    year = {2019},
    address = {Prague, Czech Republic},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ECMR_ishida.pdf},
    }
  • [PDF] M. Mansouri, B. Lacerda, N. Hawes, and F. Pecora, “Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints,” in ICRA 2019 Workshop on Resilient Robot Teams: Composing, Acting, and Learning, Montreal, Canada, 2019.
    [Bibtex]
    @InProceedings{2019ICRA_mansouri,
    author = {Mansouri, Masoumeh and Lacerda, Bruno and Hawes, Nick and Pecora, Federico},
    title = {Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints},
    booktitle = {ICRA 2019 Workshop on Resilient Robot Teams: Composing, Acting, and Learning, Montreal, Canada},
    year = {2019},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ICRA_mansouri.pdf},
    }
  • [PDF] M. Tomy, B. Lacerda, N. Hawes, and J. Wyatt, “Battery Charge Scheduling in Long-Life Autonomous Mobile Robots,” in Proceedings of the 2019 European Conference on Mobile Robots (ECMR), Prague, Czech Republic, 2019.
    [Bibtex]
    @InProceedings{2019ECMR_tomy,
    author = {Tomy, Milan and Lacerda, Bruno and Hawes, Nick and Wyatt, Jeremy},
    title = {Battery Charge Scheduling in Long-Life Autonomous Mobile Robots},
    booktitle = {Proceedings of the 2019 European Conference on Mobile Robots (ECMR)},
    year = {2019},
    address = {Prague, Czech Republic},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2019ECMR_tomy.pdf},
    }
  • [PDF] B. Lacerda and P. U. Lima, “Petri net based multi-robot task coordination from temporal logic specifications,” Robotics and Autonomous Systems, vol. 122, 2019.
    [Bibtex]
    @article{RAS2019_lacerda,
    author = {Lacerda, Bruno and Lima, Pedro U.},
    title = {{P}etri net based multi-robot task coordination from temporal logic specifications},
    journal = {Robotics and Autonomous Systems},
    volume = {122},
    year = {2019},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/RAS2019_lacerda.pdf},
    }

2018

  • [PDF] F. Faruq, B. Lacerda, D. Parker, and N. Hawes, “Simultaneous Task Allocation and Planning Under Uncertainty,” in Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    [Bibtex]
    @InProceedings{FaruqIROS2018,
    author = {Faruq, Fatma and Lacerda, Bruno and Parker, David and Hawes, Nick},
    title = {Simultaneous Task Allocation and Planning Under Uncertainty},
    booktitle = {Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    year = {2018},
    address = {Madrid, Spain},
    month = {October},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018IROS_faruq.pdf},
    }
  • [PDF] B. Lacerda, D. Parker, and N. Hawes, “Policy Generation with Probabilistic Guarantees for Long-term Autonomy of a Mobile Robot,” in Proceedings of the International Workshop on the Verification and Validation of Autonomous Systems (VaVAS), Oxford, United Kingdom, 2018.
    [Bibtex]
    @InProceedings{LacerdaVAVAS2018,
    author = {Lacerda, Bruno and Parker, David and Hawes, Nick},
    title = {Policy Generation with Probabilistic Guarantees for Long-term Autonomy of a Mobile Robot},
    booktitle = {Proceedings of the International Workshop on the Verification and Validation of Autonomous Systems (VaVAS)},
    year = {2018},
    address = {Oxford, United Kingdom},
    month = {July},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2018VAVAS_lacerda.pdf},
    }
  • [PDF] F. Jovan, J. L. Wyatt, and N. Hawes, “Efficient Bayesian Methods for Counting Processes in Partially Observable Environments,” in The 21st International Conference on Artificial Intelligence and Statistics (AISTATS 2018), 2018.
    [Bibtex]
    @InProceedings{AISTATS18_jovan,
    author = {Jovan, Ferdian and Wyatt, Jeremy L. and Hawes, Nick},
    title = {Efficient Bayesian Methods for Counting Processes in Partially Observable Environments},
    booktitle = {The 21st International Conference on Artificial Intelligence and Statistics (AISTATS 2018)},
    year = {2018},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/AISTATS18_jovan.pdf},
    }
  • [PDF] L. Kunze, H. Karaoguz, J. Young, F. Jovan, J. Folkesson, P. Jensfelt, and N. Hawes, “SOMA: A Framework for Understanding Change in Everyday Environments Using Semantic Object Maps,” in In Papers from the 2018 AAAI Fall Symposium on Reasoning and Learning in Real-World Systems for Long-Term Autonomy., 2018.
    [Bibtex]
    @InProceedings{SOMA18_kunze,
    author = {Kunze, Lars and Karaoguz, Hakan and Young, Jay and Jovan, Ferdian and Folkesson, John and Jensfelt, Patric and Hawes, Nick},
    title = {SOMA: A Framework for Understanding Change in Everyday Environments Using Semantic Object Maps},
    booktitle = {In Papers from the 2018 AAAI Fall Symposium on Reasoning and Learning in Real-World Systems for Long-Term Autonomy.},
    year = {2018},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/SOMA18_kunze.pdf},
    }
  • [PDF] L. Kunze, N. Hawes, T. Duckett, M. Hanheide, and T. Krajnik, “Artificial Intelligence for Long-Term Robot Autonomy: A Survey,” in IEEE Robotics and Automation Letters, 2018.
    [Bibtex]
    @InProceedings{RAL18_kunze,
    author = {Kunze, Lars and Hawes, Nick and Duckett, Tom and Hanheide, Marc and Krajnik, Tomas},
    title = {Artificial Intelligence for Long-Term Robot Autonomy: A Survey},
    booktitle = {IEEE Robotics and Automation Letters},
    year = {2018},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/RAL18_kunze.pdf},
    }