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Publications @ GOALS

Publications @ GOALS

2021

  • [PDF] Budd, Matthew and Duckworth, Paul and Hawes, Nick and Lacerda, Bruno, "Mission Planning in Unknown Environments as Bayesian Reinforcement Learning", IJCAI 2021 Workshop on Robust and Reliable Autonomy in the Wild (R2AW), 2021.

  • [PDF] Costen, Clarissa and Rigter, Marc and Lacerda, Bruno and Hawes, Nick, "Mixed Observability MDPs for Shared Autonomy with Uncertain Human Behaviour", IJCAI 2021 Workshop on Robust and Reliable Autonomy in the Wild (R2AW), 2021.

  • [PDF] Rutherford, Alex and Duckworth, Paul and Hawes, Nick and Lacerda, Bruno, "Motion Planning in Uncertain Environments with Rapidly-Exploring Random Markov Decision Processes", Proceedings of the 2021 European Conference on Mobile Robots (ECMR), 2021.

  • [PDF] 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.

  • [PDF] 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.

  • [PDF] 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.

  • [PDF] Charlie Street, Sebastian Putz, Manuel Muhlig, Nick Hawes, Bruno Lacerda, "Congestion-Aware Policy Synthesis for Multi-Robot Systems", IEEE Transactions on Robotics, 2021.

  • [PDF] Catherine A. Harris, Nick Hawes, Richard Dearden, "Online Plan Modification in Uncertain Resource-Constrained Environments",

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]
  • [PDF] 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. 
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]

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]
  • [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]
  • [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]
  • [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]
  • [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]
  • [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]

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]
  • [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]
  • [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]
  • [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]
  • [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]