Publications @ GOALS

2021

• Marc Rigter, Bruno Lacerda, Nick Hawes, "Minimax Regret Optimisation for Robust Planning in Uncertain Markov Decision Processes", In Proceedings of the AAAI Conference on Artificial Intelligence, 2021.
  
  
• Mohamed Baioumy, Paul Duckworth, Bruno Lacerda and Nick Hawes, "Active Inference for Integrated State-Estimation, Control, and Learning", IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  
  
• Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari, Carlos H. Corbato and Nick Hawes, "Fault-tolerant Control of Robotic Systems with Sensory Faults using Decoupled Active Inference", IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
  
  
• Charlie Street, Sebastian Putz, Manuel Muhlig, Nick Hawes, Bruno Lacerda, "Congestion-Aware Policy Synthesis for Multi-Robot Systems", IEEE Transactions on Robotics, 2021.
  
  
• Catherine A. Harris, Nick Hawes, Richard Dearden, "Online Plan Modification in Uncertain Resource-Constrained Environments",
  
  

2020

•  M. Rigter, B. Lacerda, and N. Hawes, “A Framework for Learning from Demonstration with Minimal Human Effort,” Robotics and Automation Letters (RA-L), 2020.
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• P. Duckworth, B. Lacerda, and N. Hawes, “Time-Bounded Mission Planning in Time-Varying Domains with Semi-MDPs and Gaussian Processes,” in Conference on Robot Learning (CoRL), 2020. 
•  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.
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•  C. Street, “Towards Multi-Robot Coordination under Temporal Uncertainty,” in 19th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Auckland, New Zealand, 2020.
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•  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.
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•  M. Painter, B. Lacerda, and N. Hawes, “Convex Hull Monte-Carlo Tree Search,” in The International Conference on Automated Planning and Scheduling (ICAPS), 2020.
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•  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.
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•  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.
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•  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.
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•  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.
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•  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.
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2019

•  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.
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•  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.
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•  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.
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•  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.
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•  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.
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•  B. Lacerda and P. U. Lima, “Petri net based multi-robot task coordination from temporal logic specifications,” Robotics and Autonomous Systems, vol. 122, 2019.
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2018

•  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.
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•  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.
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•  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.
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•  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.
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•  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.
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