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},
    }
  • [PDF] M. Tomy, B. Lacerda, N. Hawes, and J. L. Wyatt, “Battery charge scheduling in long-life autonomous mobile robots via multi-objective decision making under uncertainty,” Robotics and Autonomous Systems, vol. 133, 2020.
    [Bibtex]
    @article{2020RAS_milan,
    author = {Tomy, Milan and Lacerda, Bruno and Hawes, Nick and Wyatt, Jeremy L.},
    title = {Battery charge scheduling in long-life autonomous mobile robots via multi-objective decision making under uncertainty},
    journal = {Robotics and Autonomous Systems},
    volume = {133},
    year = {2020},
    month = {November},
    keywords = {Mobile service robots, Markov decision processes, Multi-objective reasoning, Long term autonomy},
    abstract = {The daily working hours of mobile robots are limited primarily by battery life. Most systems use a combination of thresholds and fixed periods to decide when to charge. This produces charging behaviour that ignores high-value tasks that must be performed within time-windows or by deadlines. Instead the robot should schedule charging adaptively, taking into account the times of day when it is expected to be given more valuable tasks to perform. This paper proposes an approach that exploits the fact that, during long-term deployments, the robot can learn when it is most probable that valuable tasks are added to the system, enabling it to schedule charging at times that are expected to be less busy. We pose the problem of scheduling battery charging as a multi-objective sequential decision making problem over a time-dependent Markov decision process model of expected task rewards and battery dynamics. We evaluate the scalability and solution quality of our multi-objective scheduler, and compare it with a typical rule-based approach. Empirical results show that our approach enables more flexible and efficient robot behaviour, which takes into account both the value of current available tasks and the predicted value of future tasks to decide whether to charge at a given time.},
    pdf = {https://doi.org/10.1016/j.robot.2020.103629},
    }
  • [PDF] C. Pezzato, M. Baioumy, C. H. Corbato, N. Hawes, M. Wisse, and R. Ferrari, “Active Inference for Fault Tolerant Control of Robot Manipulators with Sensory Faults,” in 1st International Workshop on Active Inference, ECML/PKDD 2020, Ghent, Belgium, 2020.
    [Bibtex]
    @InProceedings{2020IWAI_baioumy,
    author = {Pezzato, Corrado and Baioumy, Mohamed and Corbato, Carlos Hernandez and Hawes, Nick and Wisse, Martijn and Ferrari, Riccardo},
    title = {Active Inference for Fault Tolerant Control of Robot Manipulators with Sensory Faults},
    booktitle = {1st International Workshop on Active Inference, ECML/PKDD 2020},
    address = {Ghent, Belgium},
    year = {2020},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/baioumy_FT_control_IWAI.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},
    }