CORAL Research Publications

• By Date • By Publication Type • By Research Category • By Author (Currently at CMU) • By Author (Past and Current CORAL Contributors) •

By Research Category

• Biologically Inspired Navigation • CAMEO • CMRoboBits • Coaching • GameBots • Human-Robot Interaction • Learning from Demonstration • Motion Control • Multiagent Learning • Multi-Agent Systems • Multi-Robot Systems • Multi-Robot Coordination • Opponent and Teammate Modeling • Pickup Teams • Planning • Planning and Learning • RoboCup • RoboCup Legged Soccer • RoboCup Segway Soccer • RoboCup Simulation Soccer • RoboCup SmallSize Soccer • Robot Hardware • Robot Learning • Robot Perception • Robot Simulation • Robot Soccer Legged • Robot Soccer Segway • Robot Soccer Simulator • Robot Soccer SmallSize • Robot Soccer Sony AIBO • Vision • Other • Unspecified •

Biologically Inspired Navigation

• Brett Browning and Manuela Veloso. Planning for Communication Resources. Carnegie Mellon University, 2004.
  Details     Download: [pdf] (196.5kB )  [ps] (1.8MB )  
• Brett Browning. Using rat navigation models to learn orientation from visual input on a mobile robot. In Proceedings of Autonomous Agents, 2001, Montreal, Canada, November 2001.
  Details     Download: [ps.gz] (97.6kB )  

CAMEO

• Manuela Veloso, Paul E. Rybski, and Felix von Hundelshausen. FOCUS: a generalized method for object discovery for robots that observe and interact with humans. In Proceedings of the 2006 Conference on Human-Robot Interaction, Salt Lake City, UT, March 2006.
  Details     Download: [pdf] (578.7kB )  
• Alex Rudnicky, Paul E. Rybski, Satanjeev Banerjee, and Manuela M. Veloso. Intelligently Integrating Information from Speech and Vision Processing to Perform Light-weight Meeting Understanding. In Proceedings of ICMI'05, the International Conference on Multi-modal Interfaces, International Workshop on Multimodal Multiparty Meeting Processing, Trento, Italy, October 2005.
  Details     Download: (unavailable)
• Fernando de la Torre, Carlos Vallespi, Paul E. Rybski, Manuela Veloso, and Takeo Kanade. Multiple Face Recognition from OmnidirectionalVideo. In Proceedings of the IEEE Workshop on Learning inComputer Vision and Pattern Recognition, June 2005.
  Details     Download: (unavailable)
• F. de la Torre, C. Vallespi, P. E. Rybski, M. Veloso, and T. Kanade. Learning to Track Multiple People in Omnidirectional Video. In Proceedings of ICRA'05, the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
  Details     Download: [pdf] (1.3MB )  
• M. Veloso, F. von Hundelshausen, and P. E. Rybski. Learning Visual Object Definitions by Observing Human Activities. In Proceedings of Humanoids 2005, Japan, December 2005.
  Details     Download: [pdf] (1.3MB )  
• P. E. Rybski, M. Veloso. Robust Real-Time Human Activity Recognition from Tracked Face Displacements. In Proceedings of the 12th Portuguese Conference on Artificial Intelligence, EPIA 2005, pp. 87–98, Covilh\ a, Portugal, December 2005.
  Details     Download: [pdf] (2.5MB )  
• S. Banerjee, J. Cohen, T. Quisel, A. Chan, Y. Patodia, Z. Al-Bawab, R. Zhang, A. Black, R. Stern, R. Rosenfeld, A. Rudnicky, P. E. Rybski, and M. m. Veloso. Creating Multi-Modal, User-Centric Records of Meetings with the Carnegie Mellon Meeting Recorder Architecture. In Proceedings of ICASSP'04, the International Conference on Acoustics, Speech, and Signal Processing, Meeting Recognition Workshop, Montreal, Canada, May 2004.
  Details     Download: [pdf] (267.1kB )  
• Raju Patil, Paul Rybski, Takeo Kanade, and Manuela Veloso. People Detection and Tracking in High Resolution Panoramic Video Mosaic. In Proceedings of the 2004 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 1323–1328, Sendai, Japan, October 2004.
  Details     Download: (unavailable)
• Paul E. Rybski, Satanjeev Banerjee, Fernando de la Torre, Carlos Vallespi, Alex Rudnicky, and Manuela M. Veloso. Segmentation and Classification of Meetings using Multiple Information Streams. In Proceedings of ICMI'04, the International Conference on Multimodal Interfaces, pp. 335–336, State College, PA, October 2004.
  Details     Download: (unavailable)
• Paul Rybski and Manuela Veloso. Using Sparse Visual Data to Model Human Activities in Meetings. In Modeling Other Agents from Observations workshop at AAMAS, New York, NY, July 2004.
  Details     Download: [pdf] (2.2MB )  
• Paul Rybski, Fernando De la Torre, Raju Patil, Carlos Vallespi, Manuela Veloso, and Brett Browning. CAMEO: The Camera Assisted Meeting Event Observer. Technical Report TR-04-07, Robotics Institute, Carnegie Mellon University, 2004.
  Details     Download: (unavailable)

CMRoboBits

• Manuela M. Veloso, Paul E. Rybski, Scott Lenser, Sonia Chernova, and Douglas Vail. CMRoboBits: Creating an Intelligent AIBO Robot. AI Magazine, 27(1):67–82, Spring 2006.
  Details     Download: (unavailable)
• Paul E. Rybski and Manuela M. Veloso. From CMDash'05 to CMRoboBits : Transitioning Multi-Agent Research with AIBOs to the Classroom. In Procedings of the AAAI'05 Mobile Robot Competition and Exhibition Workshop, National Conference on Artificial Intelligence, Pittsburgh, PA, July 2005.
  Details     Download: (unavailable)

Coaching

• John Davin, Patrick Riley, and Manuela Veloso. CommLang: Communication for Coachable Agents. In Daniele Nardi, Martin Riedmiller, and Claude Sammut, editors, RoboCup-2004: The Seventh RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2005. (to appear)
  Publisher's Webpage© Springer-Verlag
  Details     Download: [pdf] (219.9kB )  [ps.gz] (197.5kB )  
• Patrick Riley and Manuela Veloso. Advice Generation from Observed Execution: Abstract Markov Decision Process Learning. In Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-2004), San Jose, July 2004.
  Details     Download: [pdf] (129.0kB )  
• Patrick Riley and Manuela Veloso. Coaching Advice and Adaptation. In Daniel Polani, Andrea Bonarini, Brett Browning, and Kazuo Yoshida, editors, RoboCup-2003: The Sixth RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2004. (to appear)
  Publisher's Webpage© Springer-Verlag
  Details     Download: [pdf] (218.8kB )  
• Paul Carpenter, Patrick Riley, Manuela Veloso, and Gal Kaminka. Integration of Advice in an Action-Selection Architecture. In Gal A. Kaminka, Pedro U. Lima, and Raul Rojas, editors, RoboCup-2002: Robot Soccer World Cup VI, number 2752 in Lecture Notes in Artificial Intelligence, pp. 195–205, Springer Verlag, Berlin, 2003.
  Publisher's Webpage© Springer-Verlag
  Details     Download: [ps.gz] (59.6kB )  
• Patrick Riley and Manuela Veloso. An Overview of Coaching with Limitations. In Proceedings of the Second Autonomous Agents and Multi-Agent Systems Conference, pp. 1110–1111, 2003.
  Details     Download: [pdf] (59.4kB )  
• Patrick Riley, Manuela Veloso, and Gal Kaminka. An Empirical Study of Coaching. In H. Asama, T. Arai, T. Fukuda, and T. Hasegawa, editors, Distributed Autonomous Robotic Systems 5, pp. 215–224, Springer-Verlag, 2002.
  Details     Download: [pdf] (187.0kB )  [ps.gz] (94.1kB )  
• Patrick Riley, Manuela Veloso, and Gal Kaminka. Towards Any-Team Coaching in Adversarial Domains. In Proceedings of the First Autonomous Agents and Multi-Agent Systems Conference, pp. 1145–1146, 2002.
  Details     Download: [ps.gz] (75.5kB )  
• Patrick Riley and Manuela Veloso. Planning for Distributed Execution Through Use of Probabilistic Opponent Models. In Proceedings of the Sixth International Conference on AI Planning and Scheduling (AIPS-2002), pp. 72–81, 2002. Best Paper Award
  Publisher (AAAI) Website
  Details     Download: [pdf] (136.3kB )  [ps.gz] (195.9kB )  
• Patrick Riley and Manuela Veloso. Recognizing Probabilistic Opponent Movement Models. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: Robot Soccer World Cup V, number 2377 in Lecture Notes in Artificial Intelligence, pp. 453–458, Springer Verlag, Berlin, 2002. (extended abstract)
  Publisher's Webpage© Springer-Verlag
  Details     Download: [pdf] (57.1kB )  [ps.gz] (24.3kB )  
• Patrick Riley and Manuela Veloso. Planning for Distributed Execution Through Use of Probabilistic Opponent Models. In IJCAI-2001 Workshop PRO-2: Planning under Uncertainty and Incomplete Information, pp. 18–26, 2001.
  Details     Download: [ps.gz] (49.0kB )  
• Patrick Riley and Manuela Veloso. Coaching a Simulated Soccer Team by Opponent Model Recognition . In Proceedings of the Fifth International Conference on Autonomous Agents (Agents-2001), pp. 155–156, 2001.
  Details     Download: [ps.gz] (29.2kB )  

GameBots

• Thuc Vu, Jared Go, Gal Kaminka, Manuela Veloso, and Brett Browning. MONAD: A Flexible Architecture for Multi-Agent Control. In Proceedings of AAMAS'03, 2003.
  Details     Download: [pdf] (138.1kB )  
• G. A. Kaminka, M. M. Veloso, S. Schaffer, C. Sollitto, R. Adobbati, A. N. Marshal, A. Scholer, and S. Tejada. GameBots: The ever-challenging multi-agent research test-bed. Communications of the ACM, January 2002.
  Details     Download: (unavailable)

Human-Robot Interaction

• Paul E. Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela M. Veloso. Interactive Robot Task Training through Dialog and Demonstration. In Proceedings of the 2007 Conference on Human-Robot Interaction, Washington DC, March 2007.
  Details     Download: [pdf] (488.8kB )  
• Paul E. Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela M. Veloso. CMAssist: A RoboCup@Home Team. In Procedings of the AAAI'06 Mobile Robot Competition and Exhibition Workshop, National Conference on Artificial Intelligence, Boston, MA, July 2006.
  Details     Download: (unavailable)

Learning from Demonstration

• Sonia Chernova and Manuela Veloso. Multiagent Collaborative Task Learning through Imitation. In 4th International Symposium on Imitation in Animals and Artifacts, Newcastle, UK, April 2007.
  Details     Download: [pdf] (219.6kB )  
• Sonia Chernova and Manuela Veloso. Confidence-Based Policy Learning from Demonstration Using Gaussian Mixture Models. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS'07), Honolulu, Hawaii, May 2007.
  Details     Download: [pdf] (506.0kB )  
• S. Chernova and M. Veloso. Tree-Based Policy Learning in Continuous Domains through Teaching by Demonstration. In Modeling Others from Observations: Papers from the AAAI Workshop, American Association for Artificial Intelligence, Menlo Park, California, July 2006.
  Details     Download: [pdf] (6.7MB )  

Motion Control

• Sonia Chernova and Manuela Veloso. An Evolutionary Approach To Gait Learning For Four-Legged Robots. In In Proceedings of IROS'04, Sendai, Japan, September 2004.
  Details     Download: [pdf] (140.4kB )  
• Michael Bowling and Manuela Veloso. Motion Control in Dynamic Multi-Robot Environments. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 222–230, Springer Verlag, Berlin, 2000.
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Motion Control in Dynamic Multi-Robot Environments. In Proceedings of The 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'99), monterey, november 1999.
  Details     Download: [pdf] (92.7kB )  
• Michael Bowling and Manuela Veloso. Motion Control in CMUnited-98. In Proceedings of IJCAI-99 Workshop on RoboCup, pp. 52–56, 1999.
  Details     Download: [pdf] (81.9kB )  

Multiagent Learning

• Sonia Chernova and Manuela Veloso. Multiagent Collaborative Task Learning through Imitation. In 4th International Symposium on Imitation in Animals and Artifacts, Newcastle, UK, April 2007.
  Details     Download: [pdf] (219.6kB )  
• Michael Bowling and Manuela Veloso. Multiagent Learning Using a Variable Learning Rate. Artificial Intelligence, 136:215–250, 2002.
  Details     Download: [pdf] (449.0kB )  
• Michael Bowling and Manuela Veloso. Scalable Learning in Stochastic Games. In Proceedings of the AAAI-2002 Workshop on Game Theoretic and Decision Theoretic Agents, Edmonton, Canada, August 2002.
  Details     Download: [pdf] (135.5kB )  
• Michael Bowling and Manuela M. Veloso. Existence of multiagent equilibria with limited agents. Technical Report CMU-CS-02-104, Computer Science Department, Carnegie Mellon University, 2002.
  Details     Download: [pdf] (289.7kB )  
• Michael Bowling and Manuela Veloso. Existence of multiagent equilibria with limited agents. Journal of Artificial Intelligence Research, 2002. Submitted in October
  Details     Download: (unavailable)
• William Uther and Manuela Veloso. TTree: Combining State and Temporal Abstraction in Semi-Markov Decision Problems. Unpublished 2002. unpublished
  Details     Download: (unavailable)
• William Uther and Manuela Veloso. TTree: Tree-Based State Generalization with Temporally Abstract Actions. In Proceedings of SARA-2002, Edmonton, Canada, August 2002.
  Details     Download: [pdf] (192.4kB )  
• Michael Bowling and Manuela Veloso. Convergence of Gradient Dynamics with a Variable Learning Rate. In Proceedings of ICML-2001, pp. 27–34, Williams College, MA, June 2001.
  Details     Download: [pdf] (142.8kB )  
• Michael Bowling and Manuela Veloso. Rational Learning of Mixed Equilibria in Stochastic Games. In Proceedings of IJCAI-2001, pp. 1021–1026, August 2001.
  Details     Download: [pdf] (121.2kB )  
• Michael Bowling and Manuela M. Veloso. An Analysis of Stochastic Game Theory for Multiagent Reinforcement Learning. Technical Report CMU-CS-00-165, Computer Science Department, Carnegie Mellon University, 2000.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Multiagent Systems: A survey from a machine learning perspective. Autonomous Robots, 8(3):345–383, Kluwer Academic Press, 2000.
  Details     Download: [pdf] (331.7kB )  
• Peter Stone and Manuela Veloso. Layered Learning. In Proceedings of the European Conference on Machine Learning, ECML-2000, 2000. A shorter version appeared in the Proceedings of the IJCAI-99 Workshop on Learning About, From, and With Other Agents
  Details     Download: (unavailable)
• William Uther and Manuela Veloso. The Lumberjack Algorithm for Learning Linked Decision Forests. In Proceedings of PRICAI-2000, August 2000. A longer version of this paper is in Proceedings of the Symposium on Abstraction, Reformulation and Approximation, SARA-2000, July 2000, Texas
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Bounding the Suboptimality of Reusing Subproblems. In Proceedings of IJCAI-99, 1999.
  Details     Download: [pdf] (94.6kB )  
• Peter Stone and Manuela Veloso. Layered Learning and Flexible Teamwork in RoboCup Simulation Agents. In Proceedings of IJCAI-99 Workshop on RoboCup, pp. 211–216, 1999.
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Reusing Learned Policies Between Similar Problems. In Proceedings of the AI*IA-98 Workshop on New Trends in Robotics, Padua, Italy, October 1998.
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Bounding the Suboptimality of Reusing Subproblems. In Proceedings of the NIPS Workshop on Abstraction in Reinforcement Learning, December 1998.
  Details     Download: [pdf] (95.8kB )  
• Peter Stone and Manuela Veloso. Team-Partitioned, Opaque-Transition Reinforcement Learning. In Proceedings of Second International Workshop on RoboCup, Paris, July 1998.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Towards Collaborative and Adversarial Learning: A Case Study in Robotic Soccer. International Journal of Human-Computer Studies, 48(1):83–104, January 1998.
  Details     Download: [pdf] (137.7kB )  
• Peter Stone and Manuela Veloso. A Layered Approach to Learning Client Behaviors in the RoboCup Soccer Server. Applied Artificial Intelligence, 12:165–188, 1998.
  Details     Download: [pdf] (213.7kB )  
• William T. B. Uther and Manuela M. Veloso. Tree Based Discretization for Continuous State Space Reinforcement Learning. In Proceedings of AAAI-98, Madison, WI, July 1998.
  Details     Download: [pdf] (99.4kB )  
• Karen Z. Haigh and Manuela M. Veloso. Identifying and Using Learning Opportunities From Robot Execution. Computer Science Department, Carnegie Mellon University, 1997.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Using Decision Tree Confidence Factors for Multiagent Control. In AAAI-97 Workshop on Multiagent Learning, AAAI Press, Menlo Park,CA, July 1997. AAAI Technical Report
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Multiagent Systems: A survey from a machine learning perspective. Technical Report CMU-CS-97-193, Computer Science Department, Carnegie Mellon University, 1997.
  Details     Download: (unavailable)
• Jim Blythe and Manuela M. Veloso. Learning to Improve Uncertainty Handling in a Hybrid Planning System. In Preprints of the AAAI 1996 Fall Symposium on Learning Complex Behaviors In Adaptive Intelligent Systems, Boston, MA, November 1996.
  Details     Download: (unavailable)
• Peter Stone, Manuela M. Veloso, and Sorin Achim. Collaboration and Learning in Robotic Soccer. In Working Notes of MIROSOT-96, Taejon, Korea, November 1996.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Towards Collaborative and Adversarial Learning: A Case Study in Robotic Soccer. In Proceedings of the AAAI Spring Symposium on Adaptation, Co-evolution, and Learning in Multi-agent Systems, AAAI Press, March 1996.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Broad Learning from Narrow Training: A Case Study in Robotic Soccer. Technical Report CMU-CS-95-207, Computer Science Department, Carnegie Mellon University, 1996.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Beating a Defender in Robotic Soccer: Memory-Based Learning of a Continuous Function. Technical Report CMU-CS-95-222, Computer Science Department, Carnegie Mellon University, 1995.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Beating a Defender in Robotic Soccer: Memory-Based Learning of a Continuous Function. In NIPS-95, Advances in Neural Information Processing Systems 8, MIT press, Cambridge, MA, 1995.
  Details     Download: [pdf] (306.0kB )  
• Manuela M. Veloso and Daniel Borrajo. Learning Strategy Knowledge Incrementally. In Proceedings of the 6th International Conference on Tools with Artificial Intelligence, pp. 484–490, New Orleans, LA, November 1994.
  Details     Download: (unavailable)

Multi-Agent Systems

• Sonia Chernova and Manuela Veloso. Multiagent Collaborative Task Learning through Imitation. In 4th International Symposium on Imitation in Animals and Artifacts, Newcastle, UK, April 2007.
  Details     Download: [pdf] (219.6kB )  
• Thuc Vu, Jared Go, Gal Kaminka, Manuela Veloso, and Brett Browning. MONAD: A Flexible Architecture for Multi-Agent Control. In Proceedings of AAMAS'03, 2003.
  Details     Download: [pdf] (138.1kB )  

Multi-Robot Systems

• Manuela Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth and Douglas Vail. A Team of Humanoid Game Commentators. In International Conference on Humanoid Robots, Genoa, Italy, December 2006.
  Details     Download: [pdf] (300.7kB )  
• Brett Browning, James Bruce, Michael Bowling, and Manuela Veloso. STP: Skills, tactics and plays for multi-robot control in adversarial environments. IEEE Journal of Control and Systems Engineering, 219:33–52, 2005.
  Details     Download: [pdf] (363.7kB )  
• Brett Browning, Jeremy Searock, Paul E. Rybski, and Manuela Veloso. Turning Segways into soccer robots. Industrial Robot, 32(2):149–156, 2005.
  Details     Download: [pdf] (515.3kB )  
• Michael Bowling, Brett Browning, and Manuela Veloso. Plays as effective multiagent plans enabling opponent-adaptive play selection. In Proceedings of International Conference on Automated Planning and Scheduling (ICAPS'04), 2004. in press
  Details     Download: [pdf] (534.3kB )  
• Michael Bowling, Brett Browning, Allen Chang, and Manuela Veloso. Plays as team plans for coordination and adaptation. In Proceedings of seventh RoboCup International Symposium, 2003. in press
  Details     Download: [pdf] (67.1kB )  
• Douglas Vail and Manuela Veloso. Dynamic Multi-Robot Coordination. In Multi-Robot Systems, Kluwer, 2003. (in press)
  Details     Download: [pdf] (4.2MB )  

Multi-Robot Coordination

• Douglas Vail and Manuela Veloso. Dynamic Multi-Robot Coordination. In Multi-Robot Systems, Kluwer, 2003. (in press)
  Details     Download: [pdf] (4.2MB )  

Opponent and Teammate Modeling

• Patrick Riley and Manuela Veloso. Advice Generation from Observed Execution: Abstract Markov Decision Process Learning. In Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-2004), San Jose, July 2004.
  Details     Download: [pdf] (129.0kB )  
• Gal Kaminka, Mehmet Fidanboylu, Allen Chang, and Manuela Veloso. Learning the Sequential Coordinated Behavior of Teams from Observations. In Proceedings of the RoboCup-2002 Symposium, Fukuoka, Japan, June 2002.
  Details     Download: [pdf] (228.9kB )  
• Patrick Riley and Manuela Veloso. Recognizing Probabilistic Opponent Movement Models. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: Robot Soccer World Cup V, number 2377 in Lecture Notes in Artificial Intelligence, pp. 453–458, Springer Verlag, Berlin, 2002. (extended abstract)
  Publisher's Webpage© Springer-Verlag
  Details     Download: [pdf] (57.1kB )  [ps.gz] (24.3kB )  
• Tucker Balch, Zia Kahn, and Manuela Veloso. Observing Ants: Tracking and Analyzing the Behavior of Live Ant Colonies. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001.
  Details     Download: [pdf] (1.3MB )  
• Patrick Riley and Manuela Veloso. On Behavior Classification in Adversarial Environments. In Lynne E. Parker, George Bekey, and Jacob Barhen, editors, Distributed Autonomous Robotic Systems 4, pp. 371–380, Springer-Verlag, 2000.
  Details     Download: [pdf] (165.7kB )  [ps.gz] (40.5kB )  
• Patrick Riley and Manuela Veloso. Towards Behavior Classification: A Case Study in Robotic Soccer. In Proceedings of the Seventeenth National Conference on Artificial Intelligence (AAAI-2000), pp. 1092, AAAI Press, 2000.
  AAAI Homepage
  Details     Download: [pdf] (23.3kB )  [ps.gz] (24.4kB )  
• Peter Stone, Patrick Riley, and Manuela Veloso. Defining and Using Ideal Teammate and Opponent Models. In Proceedings of the Twelfth Innovative Applications of Artificial Intelligence Conference (IAAI-2000), pp. 1040–1045, 2000.
  AAAI Homepage
  Details     Download: [pdf] (87.6kB )  [ps.gz] (70.4kB )  
• Patrick Riley. Classifying Adversarial Behaviors in a Dynamic, Inaccessible, Multi-Agent Environment. Technical Report CMU-CS-99-175, Carnegie Mellon University, 1999.
  Details     Download: [ps.gz] (193.7kB )  

Pickup Teams

• M. Bernardine Dias, Brett Browning, Manuela M. Veloso, and Anthony Stentz. Dynamic heterogeneous robot teams engaged in adversarial tasks. Carnegie Mellon University, 2005. Technical report CMU-RI-05-14
  Details     Download: (unavailable)

Planning

• Rune Jensen, Manuela Veloso, and Randy Bryant. Guided Symbolic Universal Planning. In Proceedings of ICAPS'03, 2003.
  Details     Download: [pdf] (169.4kB )  
• Laurie Hiyakumoto and Manuela Veloso. Towards Planning and Execution for Information Retrieval. In Proceedings of AIPS'02 Workshop on Exploring Real-World Planning, Toulouse, April 2002.
  Details     Download: [pdf] (129.3kB )  
• Rune M. Jensen, Randy E. Bryant, and Manuela M. Veloso. An Efficient BDD-Based A* Algorithm . In Proceedings of AIPS'02 Workshop on Planning via Model Checking, Toulouse, April 2002.
  Details     Download: [pdf] (137.7kB )  
• Rune M. Jensen, Randy E. Bryant, and Manuela M. Veloso. SetA*: An Efficient BDD-Based Heuristic Search Algorithm . In Proceedings of AAAI-2002, Edmonton, Canada, August 2002.
  Details     Download: [pdf] (114.0kB )  
• Patrick Riley and Manuela Veloso. Planning for Distributed Execution Through Use of Probabilistic Opponent Models. In Proceedings of the Sixth International Conference on AI Planning and Scheduling (AIPS-2002), pp. 72–81, 2002. Best Paper Award
  Publisher (AAAI) Website
  Details     Download: [pdf] (136.3kB )  [ps.gz] (195.9kB )  
• Elly Winner and Manuela Veloso. Analyzing Plans with Conditional Effects. In Proceedings of the Sixth International Conference on Artificial Intelligence Planning Systems, Toulouse, France, April 2002.
  Details     Download: [pdf] (128.2kB )  
• Elly Winner and Manuela Veloso. Automatically Acquiring Planning Templates from Example Plans. In Proceedings of AIPS'02 Workshop on Exploring Real-World Planning, Toulouse, April 2002.
  Details     Download: [pdf] (91.0kB )  
• Thomas Gabel and Manuela M. Veloso. Selecting Heterogeneous Team Players by Case-Based Reasoning: A Case Study in Robotic Soccer Simulation. Technical Report CMU-CS-01-165, Computer Science Department, Carnegie Mellon University, 2001.
  Details     Download: [pdf] (806.9kB )  
• Rune Jensen, Manuela Veloso, and Michael Bowling. Optimistic and Strong Cyclic Adversarial Planning. In Proceedings of ECP-2001, European Conference on Planning, Toledo, Spain, October 2001.
  Details     Download: [pdf] (168.3kB )  
• Patrick Riley and Manuela Veloso. Planning for Distributed Execution Through Use of Probabilistic Opponent Models. In IJCAI-2001 Workshop PRO-2: Planning under Uncertainty and Incomplete Information, pp. 18–26, 2001.
  Details     Download: [ps.gz] (49.0kB )  
• Patrick Riley and Manuela Veloso. Coaching a Simulated Soccer Team by Opponent Model Recognition . In Proceedings of the Fifth International Conference on Autonomous Agents (Agents-2001), pp. 155–156, 2001.
  Details     Download: [ps.gz] (29.2kB )  
• Rune Jensen and Manuela Veloso. OBDD-based Universal Planning for Multiple Synchronized Agents in Non-Deterministic Domains. In Proceedings of the Fifth International Conference on Artificial Intelligence Planning Systems, pp. 167–176, Breckenridge, CO, April 2000.
  Details     Download: [pdf] (243.2kB )  
• Rune M. Jensen and Manuela M. Veloso. OBDD-based Universal Planning for Synchronized Agents in Non-Deterministic Domains. Journal of Artificial Intelligence Research, 13:189–226, July 2000.
  Details     Download: [pdf] (459.1kB )  
• Rune Jensen and Manuela Veloso. OBDD-based Deterministic Planning using the UMOP Planning Framework. In Proceedings of the AIPS-2000 Worskhop on Model-Theoretic Approaches to Planning, pp. 26–31, Breckenridge, CO, April 2000.
  Details     Download: [pdf] (199.1kB )  
• Manuela Veloso, Tucker Balch, and Scott Lenser. Integrating Information Agents, Planning, and Execution Monitoring. In Proceedings of the Fourth International Conference on Autonomous Agents, Barcelona, June 2000.
  Details     Download: [pdf] (703.7kB )  
• Rune M. Jensen and Manuela M. Veloso. OBDD-based Universal Planning: Specifying and Solving Planning Problems for Synchronized Agents in Non-Deterministic Domains. In M. Wooldrige and M. Veloso, editors, Artificial Intelligence Today: Recent Trends and Developments, pp. 212–248, Springer-Verlag, 1999.
  Details     Download: (unavailable)
• Michael T. Cox and Manuela M. Veloso. Goal Transformations in Continuous Planning. In Proceedings of the AAAI Fall Symposium on Distributed Continual Planning, AAAI Press, October 1998.
  Details     Download: [pdf] (160.5kB )  
• Karen Zita Haigh and Manuela M. Veloso. Interleaving Planning and Robot Execution for Asynchronous User Requests. Autonomous Robots, 5(1):79–95, Kluwer Academic Press, March 1998.
  Details     Download: [pdf] (775.9kB )  
• Rune M. Jensen and Manuela M. Veloso. Interleaving Deliberative and Reactive Planning in Dynamic Multi-Agent Domains. In Proceedings of the AAAI Fall Symposium on on Integrated Planning for Autonomous Agent Architectures, AAAI Press, October 1998.
  Details     Download: [pdf] (197.9kB )  
• Erica Melis and Manuela M. Veloso. Analogy in Problem Solving. In L.Farinas del Cerro, D. Gabbay, and H.J. Ohlbach, editors, Handbook of Practical Reasoning Computational and Theoretical Aspects, Oxford University Press, 1998. invited contribution, in press
  Details     Download: [pdf] (805.8kB )  
• Manuela M. Veloso, Martha E. Pollack, and Michael T. Cox. Rationale-Based Monitoring for Continuous Planning in Dynamic Environments. In Proceedings of the Fourth International Conference on Artificial Intelligence Planning Systems, pp. 171–179, Pittsburgh, PA, June 1998.
  Details     Download: [pdf] (198.6kB )  
• Jim Blythe and Manuela M. Veloso. Analogical Replay for Efficient Conditional Planning. In Proceedings of AAAI-97, pp. 668–673, Providence, Rhode Island, July 1997.
  Details     Download: [pdf] (167.8kB )  
• Michael T. Cox and Manuela M. Veloso. Supporting combined human and machine planning: The Prodigy 4.0 User Interface Version 2.0. Technical Report CMU-CS-97-174, Computer Science Department, Carnegie Mellon University, 1997.
  Details     Download: (unavailable)
• Michael T. Cox and Manuela M. Veloso. Supporting combined human and machine planning: An interface for planning by analogical reasoning. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-97, the Second International Conference on Case-Based Reasoning, pp. 531–540, Springer Verlag, 1997.
  Details     Download: [pdf] (765.2kB )  
• Michael T. Cox and Manuela M. Veloso. Controlling for unexpected goals when planning in a mixed-initiative setting. In Proceedings of EPIA-97, the Eighth Portuguese Conference on Artificial Intelligence, pp. 309–318, Springer Verlag, 1997.
  Details     Download: [pdf] (40.4kB )  
• Karen Zita Haigh and Manuela M. Veloso. High-Level Planning and Low-Level Execution: Towards a Complete Robotic Agent. In Proceedings of the First International Conference on Autonomous Agents, Marina del Rey, CA, February 1997.
  Details     Download: (unavailable)
• Karen Z. Haigh, Jonathan Shewchuk, and Manuela M. Veloso. Exploring geometry in analogical route planning. Journal of Experimental and Theoretical Artificial Intelligence, 9:509–541, 1997.
  Details     Download: [pdf] (672.6kB )  
• Manuela Veloso, Alice Mulvehill, and Michael Cox. Rationale-Supported Mixed-Initiative Case-Based Planning. In Proceedings of IAAI-97, Innovative Applications of Artificial Intelligence, pp. 1072–1077, Providence, Rhode Island, July 1997.
  Details     Download: [pdf] (79.0kB )  
• Manuela M. Veloso. Merge Strategies for Multiple Case Plan Replay. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-97, the Second International Conference on Case-Based Reasoning, pp. 413–424, Springer Verlag, 1997.
  Details     Download: [pdf] (81.7kB )  
• Eugene Fink and Manuela M. Veloso. Formalizing the PRODIGY Planning Algorithm. In New Directions in AI Planning, pp. 261–272, IOS Press, 1996. An earlier extended version is available as technical report CMU-CS-94-123, 1994
  Details     Download: [pdf] (163.8kB )  
• Karen Zita Haigh and Manuela M. Veloso. Using Perception Information for Robot Planning and Execution. In Proceedings of the AAAI-96 Workshop on Intelligent Adaptive Agents, August 1996.
  Details     Download: (unavailable)
• Karen Zita Haigh and Manuela M. Veloso. Interleaving Planning and Robot Execution for Asynchronous User Requests. In Proceedings of Intelligent Robots and Systems Conference (IROS-96), Osaka, Japan, November 1996.
  Details     Download: (unavailable)
• Yury Smirnov, Sven Koenig, Manuela M. Veloso, and Reid Simmons. Efficient Goal-Directed Exploration. In Proceedings of AAAI-96, the Thirteenth National Conference on Artificial Intelligence, pp. 292–297, August 1996.
  Details     Download: [pdf] (85.8kB )  
• Yury Smirnov, Sven Koenig, and Manuela M. Veloso. Heuristic-Driven ``Treasure Hunt'' with Linear Performance Guarantees. Congress Numerantium Journal, 117:193–205, 1996.
  Details     Download: [pdf] (132.3kB )  
• Luiz E. Souza and Manuela M. Veloso. AI Planning for a Supervisory Control System. In Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics, China, October 1996.
  Details     Download: [pdf] (174.1kB )  
• Luiz E. Souza and Manuela M. Veloso. Flexible Planning Knowledge Acquisition for Industrial Processes. In Proceedings of the First International Conference on Industrial Engineering Applications and Practice, Houston, TX, December 1996.
  Details     Download: [pdf] (55.1kB )  
• Luiz E. Souza and Manuela M. Veloso. Acquisition of Flexible Planning Knowledge from Means-ends Models for Industrial Processes. Unpublished 1996. unpublished
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. User-guided Interleaving of Planning and Execution. In New Directions in AI Planning, pp. 103–112, IOS Press, 1996.
  Details     Download: [pdf] (177.9kB )  
• Manuela M. Veloso. Towards Mixed-Initiative Rationale-Supported Planning. In A. Tate, editors, Advanced Planning Technology, pp. 277–282, AAAI Press, May 1996.
  Details     Download: (unavailable)
• Manuela M. Veloso, Héctor Munoz-Avila, and Ralph Bergmann. General-Purpose Case-Based Planning: Methods and systems. AI Communications, 9(3):128–137, IOS Press, 1996. Also in Kunstliche Intelligenz, 1:22-28, 1996, in German (with reversed order of the authors)
  Details     Download: [pdf] (258.2kB )  
• Manuela M. Veloso. Flexible Strategy Learning: Analogical Replay of Problem Solving Episodes. In David B. Leake, editors, Case-Based Reasoning: experiences, lessons, and future directions, pp. 137–150, AAAI Press/The MIT Press, May 1996. Book printing of the paper presented at AAAI-94, the Twelfth National Conference on Artificial Intelligence, AAAI Press, 1994
  Details     Download: (unavailable)
• Karen Zita Haigh and Manuela M. Veloso. Route Planning by Analogy. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-95, pp. 169–180, Springer-Verlag, October 1995.
  Details     Download: [pdf] (352.4kB )  
• Yury V. Smirnov, Sven Koenig, and Manuela M. Veloso. Efficient Exploration of Unknown Environments. In American Mathematical Society Meetings, pp. 799, abstract, Kent State University, November 1995.
  Details     Download: (unavailable)
• Manuela M. Veloso and Peter Stone. FLECS: Planning with a Flexible Commitment Strategy. Journal of Artificial Intelligence Research, 3:25–52, 1995.
  Details     Download: [pdf] (334.7kB )  
• Eugene Fink and Manuela M. Veloso. PRODIGY Planning Algorithm. Technical Report CMU-CS-94-123, School of Computer Science, Carnegie Mellon University, 1994.
  Details     Download: (unavailable)
• Erica Melis and Manuela M. Veloso. Analogy Makes Proofs Feasible. In Preprints of the AAAI Workshop on Case-based Reasoning, AAAI Press, Menlo Park, CA, August 1994.
  Details     Download: (unavailable)
• Peter Stone, Manuela M. Veloso, and Jim Blythe. The need for different domain-independent heuristics. In Proceedings of the Second International Conference on AI Planning Systems, pp. 164–169, June 1994.
  Details     Download: [pdf] (184.8kB )  
• Manuela M. Veloso and Jim Blythe. Linkability: Examining Causal Link Commitments in Partial-Order Planning. In Proceedings of the Second International Conference on AI Planning Systems, pp. 170–175, June 1994.
  Details     Download: [pdf] (237.2kB )  
• Manuela M. Veloso and Jaime G. Carbonell. Case-Based Reasoning in Prodigy. In R. S. Michalski and G. Teccuci, editors, Machine Learning: A Multistrategy Approach, Volume IV, pp. 523–548, Morgan Kaufmann, 1994.
  Details     Download: (unavailable)
• Manuela M. Veloso. Planning and Learning by Analogical Reasoning, Springer Verlag, December 1994.
  Details     Download: (unavailable)
• Manuela M. Veloso. Prodigy/Analogy: Analogical Reasoning in General Problem Solving. In S. Wess, K.-D. Althoff, and M. Richter, editors, Topics in Case-Based Reasoning, pp. 33–50, Springer Verlag, 1994.
  Details     Download: (unavailable)
• Karen Haigh and Manuela M. Veloso. Combining Search and Analogical Reasoning in Path Planning from Road Maps. In Preprints of the AAAI Workshop on Case-based Reasoning, pp. 79–85, AAAI Press, Menlo Park, CA, Washington, DC, July 1993.
  Details     Download: [pdf] (156.3kB )  
• M. Alicia Pérez and Manuela M. Veloso. Goal Interactions and Plan Quality. In Preprints of the AAAI 1993 Spring Symposium Series, Workshop on Foundations of Automatic Planning: The Classical Approach and Beyond, pp. 117–121, Stanford University, CA, March 1993.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Towards Scaling Up Machine Learning: A Case Study with Derivational Analogy in Prodigy. In S. Minton, editors, Machine Learning Methods for Planning, pp. 233–272, Morgan Kaufmann, 1993.
  Details     Download: [pdf] (723.5kB )  
• Manuela M. Veloso. Planning for Complex Tasks: Replay and Merging of Multiple Simple Plans. In Preprints of the AAAI 1993 Spring Symposium Series, Workshop on Foundations of Automatic Planning: The Classical Approach and Beyond, pp. 146–150, Stanford University, CA, March 1993.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Derivational Analogy in Prodigy: Automating Case Acquisition, Storage, and Utilization. Machine Learning, 10:249–278, Kluwer Academic Publishers, Boston, MA, 1993.
  Details     Download: (unavailable)
• Jim Blythe and Manuela M. Veloso. An Analysis of Search Techniques for a Totally-Ordered Nonlinear Planner. In Proceedings of the First International Conference on AI Planning Systems, pp. 13–19, College Park, MD, June 1992.
  Details     Download: (unavailable)
• Jaime G. Carbonell, Jim Blythe, Oren Etzioni, Yolanda Gil, Robert Joseph, Dan Kahn, Craig Knoblock, Steven Minton, Alicia Pérez, Scott Reilly, Manuela M. Veloso, and Xuemei Wang. PRODIGY4.0: The Manual and Tutorial. Technical Report CMU-CS-92-150, Department of Computer Science, Carnegie Mellon University, 1992.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Variable-Precision Case Retrieval in Analogical Problem Solving. In Proceedings of the 1991 DARPA Workshop on Case-Based Reasoning, pp. 93–106, Morgan Kaufmann, Washington, DC, May 1991.
  Details     Download: (unavailable)
• Manuela M. Veloso. Efficient Nonlinear Planning using Casual Commitment and Analogical Reasoning. In Proceedings of the Thirteenth Annual Conference of the Cognitive Science Society, pp. 938–943, Lawrence Erlbaum, University of Chicago, IL, August 1991.
  Details     Download: (unavailable)
• Jaime G. Carbonell, Yolanda Gil, Robert Joseph, Craig A. Knoblock, Steven Minton, and Manuela M. Veloso. Designing an Integrated Architecture: The Prodigy View. In Proceedings of the Twelfth Annual Conference of the Cognitive Science Society, pp. 997–1004, MIT, MA, July 1990.
  Details     Download: (unavailable)
• Manuela M. Veloso, Jaime G. Carbonell, and Craig A. Knoblock. Nonlinear Planning in Complex Domains using a Casual-Commitment Approach. In Preprints of the AAAI-90 Workshop on Planning in Complex Domains, MIT, MA, August 1990.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Integrating analogy into a general problem-solving architecture. In Maria Zemankova and Zbigniew Ras, editors, Intelligent Systems, pp. 29–51, Ellis Horwood, Chichester, England, 1990.
  Details     Download: (unavailable)
• Manuela M. Veloso, M. Alicia Pérez, and Jaime G. Carbonell. Nonlinear Planning with Parallel Resource Allocation. In Proceedings of the DARPA Workshop on Innovative Approaches to Planning, Scheduling, and Control, pp. 207–212, Morgan Kaufmann, San Diego, CA, November 1990.
  Details     Download: [pdf] (96.9kB )  
• Jaime G. Carbonell and Manuela M. Veloso. Integrating Derivational Analogy into a General Problem Solving Architecture. In Proceedings of the First Workshop on Case-Based Reasoning, pp. 104–124, Morgan Kaufmann, Tampa, FL, May 1988.
  Details     Download: (unavailable)

Planning and Learning

• Michael Bowling, Rune Jensen, and Manuela Veloso. A Formalization of Equilibria for Multiagent Planning. In Proceedings of the AAAI-2002 Workshop on Multiagent Planning, Edmonton, Canada, August 2002.
  Details     Download: [pdf] (94.5kB )  
• Astro Teller and Manuela Veloso. Internal Reinforcement in a Connectionist Genetic Programming Approach. Artificial Intelligence, 120/2, July 2000.
  Details     Download: [pdf] (683.1kB )  
• Karen Zita Haigh and Manuela M. Veloso. Learning situation-dependent costs: Improving planning from probabilistic robot execution. Robotics and Autonomous Systems, 29 (2-3):145–174, 1999.
  Details     Download: [pdf] (753.7kB )  
• Karen Zita Haigh and Manuela M. Veloso. Planning, Execution and Learning in a Robotic Agent. In Proceedings of the Fourth International Conference on Artificial Intelligence Planning Systems, pp. 120–127, Pittsburgh, PA, June 1998.
  Details     Download: [pdf] (335.5kB )  
• Daniel Borrajo and Manuela Veloso. Lazy Incremental Learning of Control Knowledge for Efficiently Obtaining Quality Plans. AI Review Journal. Special Issue on Lazy Learning, 10:1–34, 1996.
  Details     Download: [pdf] (537.7kB )  
• Manuela M. Veloso, Jaime Carbonell, M. Alicia Pérez, Daniel Borrajo, Eugene Fink, and Jim Blythe. Integrating Planning and Learning: The PRODIGY Architecture. Journal of Experimental and Theoretical Artificial Intelligence, 7(1):81–120, 1995.
  Details     Download: [pdf] (322.0kB )  
• Daniel Borrajo and Manuela M. Veloso. Incremental Learning of Control Knowledge for Improvement of Planning Efficiency and Plan Quality. In Preprints of the AAAI 1994 Fall Symposium on Planning and Learning: On to Real Applications, New Orleans, LA, November 1994.
  Details     Download: (unavailable)
• Daniel Borrajo and Manuela M. Veloso. Multiple Target Concept Learning and Revision in Nonlinear Problem Solving. In Working notes of the ECML/MLNet Workshop on Theory Revision and Restructuring, Sicily, Italy, 1994.
  Details     Download: (unavailable)
• Daniel Borrajo and Manuela M. Veloso. Incremental Learning of Control Knowledge for Nonlinear Problem Solving. In Proceedings of the European Conference on Machine Learning, ECML-94, pp. 64–82, Springer Verlag, April 1994.
  Details     Download: (unavailable)
• Karen Z. Haigh, Jonathan R. Shewchuk, and Manuela M. Veloso. Route Planning and Learning from Execution. In Preprints of the AAAI 1994 Fall Symposium on Planning and Learning: On to Real Applications, New Orleans, LA, November 1994.
  Details     Download: [pdf] (111.9kB )  
• Peter Stone and Manuela M. Veloso. Learning to Solve Complex Planning Problems Finding Useful Auxiliary Problems. In Technical Report of the AAAI 1994 Fall Symposium on Planning and Learning: On to Real Applications, pp. 137–141, New Orleans, LA, November 1994.
  Details     Download: (unavailable)
• Manuela M. Veloso. Flexible Strategy Learning: Analogical Replay of Problem Solving Episodes. In Proceedings of AAAI-94, the Twelfth National Conference on Artificial Intelligence, pp. 595–600, AAAI Press, Seattle, WA, August 1994.
  Details     Download: (unavailable)
• Xuemei Wang and Manuela M. Veloso. Learning Planning Knowledge by Observation and Practice. In Proceedings of the ARPA Planning Workshop, pp. 285–294, Tucson, AZ, February 1994.
  Details     Download: (unavailable)
• Daniel Borrajo and Manuela M. Veloso. Bounded Explanation and Inductive Refinement for Acquiring Control Knowledge. In Proceedings of the Third International Workshop on Knowledge Compilation and Speedup Learning, pp. 21–27, Amherst, MA, June 1993.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Derivational Analogy in Prodigy: Automating Case Acquisition, Storage, and Utilization. Machine Learning, 10:249–278, Kluwer Academic Publishers, Boston, MA, 1993.
  Details     Download: (unavailable)
• Manuela M. Veloso. Learning by Analogical Reasoning in General Problem Solving. Ph.D. Thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, 1992. Available as technical report CMU-CS-92-174
  Details     Download: (unavailable)
• Manuela M. Veloso. Automatic Storage, Retrieval, and Replay of Multiple Cases. In Preprints of the AAAI 1992 Spring Symposium Series, Workshop on Computational Considerations in Supporting Incremental Modification and Reuse, Stanford University, CA, March 1992.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Learning by Analogical Replay in Prodigy: First Results. In Proceedings of the European Working Session on Learning, pp. 375–390, Springer-Verlag, Porto, Portugal, March 1991.
  Details     Download: (unavailable)
• Manuela M. Veloso and Jaime G. Carbonell. Learning Analogies by Analogy - The Closed Loop of Memory Organization and Problem Solving. In Proceedings of the Second Workshop on Case-Based Reasoning, pp. 153–158, Morgan Kaufmann, Pensacola, FL, May 1989.
  Details     Download: (unavailable)

RoboCup

• Manuela Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth and Douglas Vail. A Team of Humanoid Game Commentators. In International Conference on Humanoid Robots, Genoa, Italy, December 2006.
  Details     Download: [pdf] (300.7kB )  
• Brett Browning, James Bruce, Michael Bowling, and Manuela Veloso. STP: Skills, tactics and plays for multi-robot control in adversarial environments. IEEE Journal of Control and Systems Engineering, 219:33–52, 2005.
  Details     Download: [pdf] (363.7kB )  
• Douglas Vail and Manuela Veloso. Learning from Accelerometer Data on a Legged Robot. In IAV-2004, Lisbon, Portugal, July 2004.
  Details     Download: [pdf] (421.0kB )  
• James Bruce and Manuela Veloso. Fast and Accurate Vision-Based Pattern Detection and Identification. In Proceedings of ICRA'03, the 2003 IEEE International Conference on Robotics and Automation, Taiwan, May 2003.
  Details     Download: [pdf] (1.6MB )  
• Scott Lenser and Manuela Veloso. Automatic Detection and Response to Environmental Change. In Proceedings of ICRA'03, the 2003 IEEE International Conference on Robotics and Automation, Taiwan, May 2003.
  Details     Download: [pdf] (2.2MB )  
• Maayan Roth, Douglas Vail, and Manuela Veloso. A World Model for Multi-Robot Teams with Communication. In IROS-2003, 2003. (under submission)
  Details     Download: [pdf] (257.5kB )  
• Douglas Vail and Manuela Veloso. Dynamic Multi-Robot Coordination. In Multi-Robot Systems, Kluwer, 2003. (in press)
  Details     Download: [pdf] (4.2MB )  
• James Bruce and Manuela Veloso. Real-Time Randomized Path Planning for Robot Navigation. In Proceedings of IROS-2002, Switzerland, October 2002. An earlier version of this paper appears in the Proceedings of the RoboCup-2002 Symposium
  Details     Download: [pdf] (375.0kB )  
• James Bruce, Scott Lenser, and Manuela Veloso. Fast Parametric Transitions for Smooth Quadrupedal Motion. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2002.
  Details     Download: [pdf] (175.5kB )  
• Paul Carpenter, Patrick Riley, Manuela Veloso, and Gal Kaminka. Integration of Advice in an Action-Selection Architecture. In Proceedings of the RoboCup-2002 Symposium, Fukuoka, Japan, June 2002.
  Details     Download: [pdf] (149.6kB )  
• Gal Kaminka, Mehmet Fidanboylu, Allen Chang, and Manuela Veloso. Learning the Sequential Coordinated Behavior of Teams from Observations. In Proceedings of the RoboCup-2002 Symposium, Fukuoka, Japan, June 2002.
  Details     Download: [pdf] (228.9kB )  
• Scott Lenser, James Bruce, and Manuela Veloso. A Modular Hierarchical Behavior-Based Architecture. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2002.
  Details     Download: [pdf] (134.4kB )  
• P. Lima, T. Balch, M. Fujita, R. Rojas, M. Veloso, and H. Yanco. RoboCup 2001. IEEE Robotics and Automation Magazine, 9(2):20 – 30, June 2002.
  Details     Download: (unavailable)
• William Uther, Scott Lenser, James Bruce, Martin Hock, and Manuela Veloso. CM-Pack'01: Fast Legged Robot Walking, Robust Localization, and Team Behaviors. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences, Springer Verlag, Berlin, 2002.
  Details     Download: [pdf] (100.4kB )  
• Manuela Veloso. Robot Soccer: A Multi-Robot Challenge. In Multi-Robot Systems: From Swarms to Intelligent Automata, Kluwer, 2002.
  Details     Download: (unavailable)
• Scott Lenser, James Bruce, and Manuela Veloso. CM-Pack'00. In P. Stone, T. Balch, and G. Kraetzschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pp. 623–626, Springer Verlag, Berlin, 2001.
  Details     Download: (unavailable)
• Scott Lenser, James Bruce, and Manuela Veloso. CMPack: A Complete Software System for Autonomous Legged Soccer Robots. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001. Best Paper Award in the Software Prototypes Track, Honorary Mention
  Details     Download: (unavailable)
• Minoru Asada, Andreas Birk, Enrico Pagello, Masahiro Fujita, Itsuki Noda, Satoshi Tadokoro, Dominique Duhaut, Peter Stone, Manuela Veloso, Tucker Balch, Hiroaki Kitano, and B. Thomas. Progress in RoboCup Soccer Research in 2000. In Proceedings of the 2000 International Symposium on Experimental Robotics, October 2000.
  Details     Download: (unavailable)
• Minoru Asada, Manuela Veloso, Milind Tambe, Itsuki Noda, Hiroaki Kitano, and Gerhard Kraetzschmar. Overview of RoboCup-98. AI Magazine, 21(1):9–19, Spring 2000.
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Motion Control in Dynamic Multi-Robot Environments. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 222–230, Springer Verlag, Berlin, 2000.
  Details     Download: (unavailable)
• James Bruce, Tucker Balch, and Manuela Veloso. Fast and Inexpensive Color Image Segmentation for Interactive Robots. In Proceedings of IROS-2000, Japan, October 2000.
  Details     Download: (unavailable)
• James Bruce, Tucker Balch, and Manuela Veloso. Real-Time Color Image Segmentation Using Commodity Hardware. In Proceedings of WIRE-2000, May 2000.
  Details     Download: (unavailable)
• Masahiro Fujita, Manuela Veloso, William Uther, Minoru Asada, Hiroaki Kitano, Vincent Hugel, Patrick Bonnin, Jean-Christophe Bouramoué, and Pierre Blazevic. Vision, Strategy, and Localization using the Sony Legged Robots at RoboCup-98. AI Magazine, 21(1):47–56, Spring 2000.
  Details     Download: (unavailable)
• Kwun Han and Manuela Veloso. Automated Robot Behavior Recognition Applied to Robotic Soccer. In John Hollerbach and Dan Koditschek, editors, Robotics Research: the Ninth International Symposium, pp. 199–204, Springer-Verlag, London, 2000. Also in the Proceedings of IJCAI-99 Workshop on Team Behaviors and Plan Recognition
  Details     Download: [pdf] (95.0kB )  
• Scott Lenser and Manuela Veloso. Sensor Resetting Localization for Poorly Modelled Mobile Robots. In Proceedings of ICRA-2000, the International Conference on Robotics and Automation, April 2000.
  Details     Download: [pdf] (178.4kB )  
• M. Veloso, E. Pagello, and H. Kitano, editors. RoboCup-99: Robot Soccer World Cup III, Springer-Verlag Press, Berlin, August 2000.
  Details     Download: (unavailable)
• Peter Stone, Patrick Riley, and Manuela Veloso. Defining and using ideal teammate and opponent agent models. In Proceedings of the Twelfth Annual Conference on Innovative Applications of Artificial Intelligence, August 2000.
  Details     Download: [pdf] (87.6kB )  
• Peter Stone, Patrick Riley, and Manuela Veloso. Why is the agent doing what it's doing?. In Proceedings of the Fourth International Conference on Autonomous Agents, Barcelona, June 2000.
  Details     Download: [pdf] (79.6kB )  
• Peter Stone and Manuela Veloso. Layered Learning and Flexible Teamwork in RoboCup Simulation Agents. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 495–508, Springer Verlag, Berlin, 2000.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Layered Learning. In Proceedings of the European Conference on Machine Learning, ECML-2000, 2000. A shorter version appeared in the Proceedings of the IJCAI-99 Workshop on Learning About, From, and With Other Agents
  Details     Download: (unavailable)
• Manuela Veloso, Scott Lenser, Elly Winner, and James Bruce. CM-Trio-99. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 766–769, Springer Verlag, Berlin, 2000.
  Details     Download: [pdf] (84.5kB )  
• Manuela Veloso, Elly Winner, Scott Lenser, James Bruce, and Tucker Balch. Vision-Servoed Localization and Behavior-Based Planning for an Autonomous Quadruped Legged Robot. In Proceedings of the Fifth International Conference on Artificial Intelligence Planning Systems, pp. 387–394, Breckenridge, CO, April 2000.
  Details     Download: [pdf] (254.0kB )  [ps.gz] (94.7kB )  
• Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. CMUnited-98: RoboCup-98 Small-Robot World Champion Team. AI Magazine, 21(1):29–36, Spring 2000.
  Details     Download: (unavailable)
• Manuela Veloso, Hiroaki Kitano, Enrico Pagello, Gerhard Kraetzschmar, Peter Stone, Tucker Balch, Minoru Asada, Silvia Coradeschi, Lars Karlsson, and Masahiro Fujita. Overview of RoboCup-99. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 1–34, Springer Verlag, Berlin, 2000.
  Details     Download: (unavailable)
• Manuela Veloso, Michael Bowling, and Sorin Achim. CMUnited-99: Small-Size Robot Team. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pp. 661–662, Springer Verlag, Berlin, 2000.
  Details     Download: (unavailable)
• Elly Winner and Manuela Veloso. Multi-Fidelity Behaviors: Acting with Variable State Information. In Proceedings of AAAI-2000, August 2000.
  Details     Download: [pdf] (169.2kB )  [ps.gz] (170.0kB )  
• Minoru Asada, Hiroaki Kitano, Itsuki Noda, and Manuela Veloso. RoboCup: Today and tomorrow -- What we have have learned. Artificial Intelligence, 110:193–214, 1999.
  Details     Download: (unavailable)
• Michael Bowling and Manuela Veloso. Motion Control in Dynamic Multi-Robot Environments. In Proceedings of The 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'99), monterey, november 1999.
  Details     Download: [pdf] (92.7kB )  
• Michael Bowling and Manuela Veloso. Motion Control in CMUnited-98. In Proceedings of IJCAI-99 Workshop on RoboCup, pp. 52–56, 1999.
  Details     Download: [pdf] (81.9kB )  
• Peter Stone and Manuela Veloso. Layered Learning and Flexible Teamwork in RoboCup Simulation Agents. In Proceedings of IJCAI-99 Workshop on RoboCup, pp. 211–216, 1999.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Team-Partitioned, Opaque-Transition Reinforcement Learning. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pp. 261–272, Springer Verlag, Berlin, 1999. A shorter version appeared in the Proceedings of the Third International Conference on Autonomous Agents, pages 206--212, 1999
  Details     Download: [pdf] (207.5kB )  
• Peter Stone and Manuela Veloso. Task decomposition and dynamic role assignment for real-time strategic teamwork. In J. P. Muller, M. P. Singh, and A. S. Rao, editors, Intelligent Agents V --- Proceedings of the Fifth International Workshop on Agent Theories, Architectures, and Languages (ATAL-98), Lecture Notes in Artificial Intelligence, pp. 293–308, Springer-Verlag, Heidelberg, 1999.
  Details     Download: [pdf] (120.5kB )  
• Peter Stone and Manuela Veloso. Task Decomposition, Dynamic Role Assignment, and Low-Bandwidth Communication for Real-Time Strategic Teamwork. Artificial Intelligence, 110(2):241–273, June 1999.
  Details     Download: [pdf] (218.6kB )  
• Manuela Veloso, Peter Stone, and Michael Bowling. Anticipation as a Key for Collaboration in a Team of Agents: A Case Study in Robotic Soccer. In Proceedings of SPIE Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, September 1999.
  Details     Download: [pdf] (399.6kB )  
• Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. CMUnited-98: A Team of Robotic Soccer Agents. In Proceedings of IAAI-99, 1999.
  Details     Download: [pdf] (410.0kB )  
• Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. The CMUnited-98 Champion Small Robot Team. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pp. 77–92, Springer Verlag, Berlin, 1999.
  Details     Download: [pdf] (458.9kB )  
• Manuela Veloso and William Uther. The CMTrio-98 Sony Legged Robot Team. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pp. 491–497, Springer Verlag, Berlin, 1999.
  Details     Download: [pdf] (235.5kB )  
• Manuela Veloso, Peter Stone, and Kwun Han. The CMUnited-97 Robotic Soccer Team: Perception and Multiagent Control. Robotics and Autonomous Systems, 29 (2-3),:133–143, 1999.
  Details     Download: [pdf] (255.7kB )  
• Kwun Han and Manuela Veloso. Reactive Visual Control of Multiple Non-Holonomic Robotic Agents. In Proceedings of the International Conference on Robotics and Automation, Belgium, May 1998.
  Details     Download: [pdf] (209.3kB )  
• Peter Stone and Manuela Veloso. Team-Partitioned, Opaque-Transition Reinforcement Learning. In Proceedings of Second International Workshop on RoboCup, Paris, July 1998.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Using Decision Tree Confidence Factors for Multiagent Control. In Hiroaki Kitano, editors, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pp. 99–111, Springer Verlag, Berlin, 1998.
  Details     Download: [pdf] (182.5kB )  
• Peter Stone and Manuela Veloso. Towards Collaborative and Adversarial Learning: A Case Study in Robotic Soccer. International Journal of Human-Computer Studies, 48(1):83–104, January 1998.
  Details     Download: [pdf] (137.7kB )  
• Peter Stone and Manuela Veloso. The CMUnited'97 Simulator Team. In Hiroaki Kitano, editors, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pp. 389–397, Springer Verlag, Berlin, 1998.
  Details     Download: [pdf] (149.4kB )  
• Peter Stone and Manuela Veloso. A Layered Approach to Learning Client Behaviors in the RoboCup Soccer Server. Applied Artificial Intelligence, 12:165–188, 1998.
  Details     Download: [pdf] (213.7kB )  
• Peter Stone and Manuela Veloso. Using Decision Tree Confidence Factors for Multiagent Control. In Proceedings of the Second International Conference on Autonomous Agents, Minneapolis, MN, May 1998.
  Details     Download: (unavailable)
• Peter Stone and Manuela Veloso. Communication in Domains with Unreliable, Single-Channel, Low-Bandwidth Communication. In Alexis Drogoul, Milind Tambe, and Toshio Fukuda, editors, Collective Robotics, pp. 85–97, Springer Verlag, Berlin, July 1998.
  Details     Download: [pdf] (179.5kB )  
• Manuela Veloso and Peter Stone. Individual and Collaborative Behaviors in a Team of Homogeneous Robotic Soccer Agents. In Proceedings of the Third International Conference on Multi-Agent Systems, pp. 309–316, Paris, July 1998.
  Details     Download: [pdf] (142.6kB )  
• Manuela Veloso, William Uther, Masahiro Fujita, Minoru Asada, and Hiroaki Kitano. Playing Soccer with Legged Robots. In Proceedings of IROS-98, Intelligent Robots and Systems Conference, Victoria, Canada, October 1998.
  Details     Download: [pdf] (278.1kB )  
• Manuela Veloso, William Uther, and Masahiro Fujita. Walking Soccer-Playing Robots. Robot Science and Technology Magazine, November 1998.
  Details     Download: (unavailable)
• Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. CMUnited: A Team of Robotic Soccer Agents Collaborating in an Adversarial Environment. In Hiroaki Kitano, editors, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pp. 242–256, Springer Verlag, Berlin, 1998.
  Details     Download: [pdf] (238.6kB )  
• Manuela Veloso, Peter Stone, and Kwun Han. CMUnited-97: RoboCup-97 Small-Robot World Champion Team. AI Magazine, 19(3):61–69, 1998.
  Details     Download: (unavailable)
• Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. CMUnited: A Team of Robotic Soccer Agents Collaborating in an Adversarial Environment. Crossroads, 4.3, February 1998.
  Details     Download: (unavailable)
• Kwun Han and Manuela Veloso. Physical Model Based Multi-objects Tracking and Prediction in RoboSoccer. In Working notes of the AAAI 1997 Fall Symposium on Model-directed Autonomous Systems, MIT, Boston, November 1997.
  Details     Download: (unavailable)
• H. Kitano, M. Tambe, P. Stone, M. Veloso, S. Coradeschi, E. Osawa, H. Matsubara, I. Noda, and M. Asada. The RoboCup Synthetic Agent Challenge 97. In Proceedings of IJCAI-97, Nagoya, Japan, August 1997.
  Details     Download: [pdf] (147.8kB )  
• Peter Stone and Manuela Veloso. Using Decision Tree Confidence Factors for Multiagent Control. In AAAI-97 Workshop on Multiagent Learning, AAAI Press, Menlo Park,CA, July 1997. AAAI Technical Report
  Details     Download: (unavailable)
• Manuela Veloso, Peter Stone, and Sorin Achim. A Layered Approach for an Autonomous Robotic Soccer System. In Proceedings of the First International Conference on Autonomous Agents, pp. 530–531, Marina del Rey, CA, February 1997.
  Details     Download: (unavailable)
• Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. CMUnited: A team of robotic soccer agents collaborating in an adversarial environment. In Proceedings of the The First International Workshop on RoboCup, IJCAI-97, Nagoya, Japan, August 1997.
  Details     Download: (unavailable)
• Sorin Achim, Peter Stone, and Manuela M. Veloso. Building a Dedicated Robotic Soccer System. In Working Notes of the IROS-96 Workshop on RoboCup, Osaka, Japan, November 1996.
  Details     Download: (unavailable)
• Peter Stone, Manuela M. Veloso, and Sorin Achim. Collaboration and Learning in Robotic Soccer. In Working Notes of MIROSOT-96, Taejon, Korea, November 1996.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Towards Collaborative and Adversarial Learning: A Case Study in Robotic Soccer. In Proceedings of the AAAI Spring Symposium on Adaptation, Co-evolution, and Learning in Multi-agent Systems, AAAI Press, March 1996.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Beating a Defender in Robotic Soccer: Memory-Based Learning of a Continuous Function. Technical Report CMU-CS-95-222, Computer Science Department, Carnegie Mellon University, 1995.
  Details     Download: (unavailable)
• Peter Stone and Manuela M. Veloso. Beating a Defender in Robotic Soccer: Memory-Based Learning of a Continuous Function. In NIPS-95, Advances in Neural Information Processing Systems 8, MIT press, Cambridge, MA, 1995.
  Details     Download: [pdf] (306.0kB )  

RoboCup Legged Soccer

• Manuela Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth and Douglas Vail. A Team of Humanoid Game Commentators. In International Conference on Humanoid Robots, Genoa, Italy, December 2006.
  Details     Download: [pdf] (300.7kB )  
• Juan Fasola, Paul E. Rybski, and Manuela M. Vel