Manuela M. Veloso
Computer Science Department Home address: Carnegie Mellon University 6645 Woodwell Street Pittsburgh PA 15213-3819 Pittsburgh PA 15217 tel: (412) 268-1474 Citizenship: USA email: [email protected] Birth: Lisbon, Portugal, August 12, 1957 http://www.cs.cmu.edu/˜mmv/ Married; two sons, born 1981 and 1987 Academic Positions July 02 - Professor, Computer Science Department, Carnegie Mellon University July 99 - July 02 Tenured Associate Professor, Computer Science Department, Carnegie Mellon University Aug 99 - Aug 00 Visiting Associate Professor, Electrical Engineering and Computer Science Department, AI Lab, Massachusetts Institute of Technology, on sabbatical leave from Carnegie Mellon University. July 97 - July 99 Associate Professor, Computer Science Department, Carnegie Mellon University Sep 92 - June 97 Assistant Professor Computer Science Department, Carnegie Mellon University Aug 87 - Aug 92 Research Assistant in Computer Science, Carnegie Mellon University Jan 85 - Jul 86 Teaching Assistant/Lecturer in Computer Science, Boston University Oct 80 - Jul 84 Teaching Assistant/Lecturer in Electrical and Computer Engineering, Instituto Superior Tecnico,´ Lisbon, Portugal Education 1992 Ph.D. in Computer Science School of Computer Science, Carnegie Mellon University, Pittsburgh 1986 M.A. in Computer Science Computer Science Department, Boston University, Boston 1984 M.Sc. in Electrical and Computer Engineering Electrical and Computer Engineering Department, Instituto Superior Tecnico,´ Lisbon, Portugal 1980 Licenciatura in Electrical Engineering Electrical and Computer Engineering Department, Instituto Superior Tecnico,´ Lisbon, Portugal Awards August 2001 RoboCup-01: 2nd place, Sony Legged-Robot League August 2000 RoboCup-00: 3rd place, Simulator League; 3rd place, Sony Legged-Robot League July 1999 RoboCup-99: World Champion, Simulator League; 3rd place, Sony Legged-Robot League July 1998 RoboCup-98: Tri-World Champion, Simulator, Small-Size Robot, and Sony Legged-Robot Leagues September 1997 Allen Newell Excellence in Research Award August 1997 RoboCup-97: World Champion Small-Size Robot League; 3rd place, Simulator League June 1995 NSF Career Award 1994 - 1998 Finmeccanica Chair May 1986 AT&T Information Systems Award for Outstanding Academic Achievement 1984 - 1987 Fellowship from the National Institute for Scientific Research, Portugal
1 Research Interests My long-term research goal is the effective construction of autonomous agents where cognition, percep- tion, and action are combined to address planning, execution, and learning tasks. My vision is that multiple intelligent robots with different sets of complementary capabilities will provide a seamless synergy of in- telligence. Concretely, my research focuses on the continuous integration of reactive, deliberative planning, and control learning for teams of multiple agents acting in adversarial, dynamic, and uncertain environ- ments. Of particular interest to me is learning, adversarial modeling, reuse, and abstraction in multiagent problems. My multiagent and multirobot research interests have been motivated by and experimented in the domain of robotic soccer. I continue to investigate effective planning, execution, and learning algorithms for deterministic and nondeterministic multiagent domains within my research projects CORAL (Collaborate, Observe, Reason, Act, and Learn), MAPEL (Multi-Agent Planning, Execution, and Learning), and the Ro- boSoccer and MultiRobot Lab. I also research on control learning approaches to automating the modeling and optimization of the performance of signal processing transforms.
Teaching Experience
Multiagent Systems: Theory and Hands-On Experience (graduate) – Spring’01.
Embodied Intelligence - MIT 6.836, Spring’00.
Artificial Intelligence - MIT 6.034, Fall’99.
Planning, Execution, and Learning (graduate) – Fall’01, Spring’99, Fall’97.
Artificial Intelligence (undergraduate) – Fall’01, Fall’00, Fall’98, Spring’97, Spring’96, Fall’95.
Artificial Intelligence (graduate) – Spring’98, Spring’95, Spring’94, Spring’93.
Fundamentals of Computer Science (undergraduate) – Fall’93.
Several conference tutorials and short courses on Robotic Soccer (Agents-99, AAAI-99, IJCAI-99) and on Planning and Learning (ICML-95, IJCAI-95, FirstUSA, CMU Summer courses).
Current Ph.D. Student Advisees
William Uther (Fall’95, expected to graduate in Spring’02). Thesis title: “Learning structure in control learning problems.” Thesis committee: Manuela Veloso (Chair), Jaime Carbonell, Andrew Moore, and Thomas Dietterich (Oregon State University).
Michael Bowling (Fall’97, expected to graduate in Fall’02). Thesis title: “Multiagent Learning in the Presence of Agents with Realistic Limitations.” Thesis committee: Manuela Veloso (Chair), Avrim Blum, Herbert Simon, and Craig Boutilier (University of Toronto).
Scott Lenser (Fall’98). Research: Robot planning and learning.
Elly Winner (Fall’98). Research: Plan recognition and adaptation.
Laurie Hiyakumoto (Fall’98, co-advised with Jaime Carbonell, expected to graduate in Fall’03). Thesis title: “Planning and Execution for Open-Domain Question Answering”. Thesis committee: Manuela Veloso, co-Chair, Jaime Carbonell, co-Chair, Jamie Callan, Eric Nyberg, Martha Pollack (University of Michigan).
Rune Jensen (Fall’99, co-advised with Randy Bryant, expected to graduate in Spring’03). Thesis title: “Efficient BDD-based Search for Planning”. Thesis committee: Manuela Veloso (co-Chair), Randy Bryant (co-Chair), Reid Simmons, Paolo Traverso (IRST, Italy).
Patrick Riley (Fall’99). Research: Adversarial modeling and learning.
2 James Bruce (Fall’00). Research: Vision, planning, and learning in multirobot systems.
Paul Carpenter (Fall’00). Research: Complex behavioral learning in multiagent systems.
Maayan Roth (Fall’01, co-advised with Reid Simmons). Research: Multirobot coordination.
Douglas Vail (Fall’01). Research: Planning and learning in multiagent systems.
Past PhD Students
Belinda Thom, Ph.D. December 2001. “Interactive, Customized Generation of Jazz Improvisation: Believable Music Companions.” Fullbright fellow, University of Karlsruhe, Germany, 2001/2002. Harvey Mudd College, CA.
Bryan Singer, Ph.D. December 2001. “Automating the Modeling and Optimization of the Perfor- mance of Signal Processing Algorithms.” NSA (The National Security Agency), DC.
Peter Stone, Ph.D. December 1998. “Layered Learning in Multi-Agent Systems.” AT&T Research Labs, NJ.
Astro Teller, Ph.D. December 1998. “Algorithm Evolution with Internal Reinforcement for Signal Understanding.” CEO and co-founder of BodyMedia, Inc., Pittsburgh, PA.
Kwun Han. Left the PhD program to join a start-up company in December 1998.
Karen Zita Haigh. Ph.D. May 1998. “Situation-Dependent Learning for Interleaved Planning and Robot Execution.” Honeywell, Minneapolis, MN.
Yury Smirnov. Ph.D. August 1997. “Hybrid Algorithms for On-Line and Combinatorial Optimization Problems.” CEO of Akonite, Inc, Palo Alto, CA.
Professional Activities Editorial Board: Journal of Artificial Intelligence Research, International Journal of Autonomous Agents and Multi-Agent Systems. Reviewer: Artificial Intelligence, Journal of Artificial Intelligence Research, Machine Learning. Member of: AAAS, AAAI, AAAI Executive Council Member, since July 1999. Vice President and Trustee: RoboCup Federation. General Chair: RoboCup-2001, Seattle, USA, August 2–10, 2001 Senior Program Committee Member: IJCAI-03, IJCAI-01, AAMAS-02, Agents-01, AAAI-00, Agents-00, AAAI-99 Program Committee Member: AIPS-02, ECP-01, ICML-00, AIPS-00, EPIA-99, ICML-99, ICCBR- 99, IJCAI-99, Agents-99, Agents-98, ICML-98, AAAI-98, Agents-97, EPIA-97, RoboCup-97, AAAI-97, ICCBR-97, AIPS-94 Worshop Co-Chair: AIPS-02, RoboCup-99, General Organizing Chair: RoboCup-01 General Organizing Co-Chair: RoboCup-98, RoboCup-00 Program Co-Chair: ICCBR-95, AIPS-98 Program Chair: NSF-sponsored workshop on “Intelligent Robotic Agents,” Brazil, March 1997 (AAAI - American Association of Artificial Intelligence; Agents - International Conference on Agents; AIPS - International Conference on Artificial Intelligence Planning Systems; EPIA - Portuguese Conference on Artificial Intelligence; ICCBR - International Conference on Case-Based Reasoning; ICML - International Conference on Machine Learning; IJCAI - International Joint Conference on Artificial Intelligence.)
3 Invited Presentations 2002
October 2002 - National Academy of Engineering.
May 3, 2002 - Lehigh University, distinguished lecture.
April 24, 2002 - CRNS, Nice, France.
April 7, 2002 - Carnegie Science Center, Pittsburgh.
April 3, 2002 - Columbia University, NY.
March 18, 2002 - Navy Research Lab, DC, Multi-robot workshop.
March 13, 2002 - Goddard Space Flight Center, NASA, Maryland. 2001
October 22, 2001 - Harvard University, Science and the Spiritual Quest, “Embodied and Social: Robotics Building Upon and Contributing to What We know About Human Being and Intelligence.”
August 9, 2001 - IJCAI-01, Invited Talk, Seattle, “The Challenges and Advances in Teams of Au- tonomous Agents in Adversarial Environments.”
July 31, 2001 - ICCBR-01, Invited Talk, International Conference on Case-Based Reasoning, Van- couver, “Building and Using Experience in Multiagent Systems.”
July 17, 2001 - AT&T – Research, Florham Park, NJ, “Multiagent Learning: Towards Learning to Model and Respond to Adversaries.” Host: Ron Brachman.
May 25, 2001 - Science and the Spiritual Quest, Unesco, Paris, “Robots - “Creatures” Without a Soul?”
May 21, 2001 - Harvard University, Cambridge, “Multirobot Perception and Learning”, AI class, Avi Pfeffer
March 28, 2001 - International Symposium on Distributed Autonomous Robots, Dallas, Panel on “Robotics in Education and Entertainment,” “Advances in Multi-Robot Systems through RoboCup.”
February 14-15, 2001 - AAAS Seminar on Genomics, Robotics and Nanotechnology, AAAS An- nual Meeting, including response to Bill Joy, “Teams of Intelligent Robots.”
February 3, 2001 - Westinghouse Science Honors Institute, Pittsburgh. “Teams of Autonomous Robotic Agents.” 2000
December 9-12 - Science and the Spiritual Quest II, New York, “Autonomous Robots with Percep- tion, Cognition, and Action.”
July 30, 2000 - AAAI-2000, Mentoring Plenary Tutorial, on “Advising Graduate Students.”
June 6, 2000 - University of Girona, Girona, Spain. “Learning in Agents that Plan and Execute.”
June 5, 2000 - Agents-2000, Invited Talk, Barcelona, Spain. “Perception, Action, and Learning in Teams of Autonomous Agents.”
May 16, 2000 - Association of Portuguese MIT Students. “Planning, Execution, and Learning in Teams of Autonomous Agents.”
April 10, 2000 - Harvard University. “Planning, Execution, and Learning in Teams of Autonomous Agents.”
April 7, 2000 - BBN Technologies. “Teams of Autonomous Agents: Action, Perception, Execution, and Learning.”
March 6, 2000 - Oregon State University. “Planning, Execution, and Learning in Teams of Au-
4 tonomous Agents.”
March 1, 2000 - Draper Labs. “Planning, Execution, and Learning in Teams of Autonomous Agents.”
February 26, 2000 - Millennium Celebrations, Portugal “Multiagent Software and Robotic Systems.”
February 10, 2000 - MIT AI Colloquium. “Planning, Execution, and Learning in Teams of Au- tonomous Agents.” 1999
December 20, 1999 - Faculdade de Cienciasˆ , Lisbon. “Multiagent Teams of Robotic Soccer: Simu- lation, Small Wheeled Robots, and Autonomous Legged Robots.”
December 10, 1999 - Smithsonian Museum, Washington, DC. General public presentations and robot demonstrations.
December 3, 1999 - Yale University, New Haven. “Action, Perception, and Goal Achievement in Teams of Autonomous Robotic Soccer Agents.”
November 2, 1999 - MIT Lincoln Lab. “Integrating Information, Planning, and Execution Agents.”
October 30, 1999 - Carnegie Mellon University, Keynote speaker, Westinghouse Science Awards Dinner, “Multi-Agent Planning, Execution, and Learning.”
April 23, 1999 - The New England Symposium on Reinforcement Learning, University of Mas- sachusetts, Amherst. “What to do next?: Action selection in dynamic multi-agent environments.”
February 26, 1999 - Pittsburgh Super Computing Center, Pittsburgh. “Towards Learning to Map Signal Processing Algorithms, Implementations, Compilers, and Machines.”
February 13, 1999 - Westinghouse Science Honors Institute, Pittsburgh. “Goal Achievement in Teams of Autonomous Robotic Agents.” 1998
November 13, 1998 - Cornell University, AI seminar. “Perception, Action, and Planning in Teams of Autonomous Robotic Agents.”
November 6, 1998 - University of Pennsylvania, GRASP seminar. “Perception, Action, and Planning in Teams of Autonomous Robotic Agents.”
October 22-30, 1998 - Visit to RMIT (Royal Melbourne Institute of Technology), and Interact, Mel- bourne, Australia. “Teams of Robotic Soccer Agents: Autonomous Legged Robots.”
October 1, 1998 - Invited speaker at AI*IA-98, (Association of Italian Artificial Intelligence), Work- shop on New Trends in Robotics, Padova, Italy. “Teams of Robotic Soccer Agents: Simulation, Globally Controlled Wheeled Robots, and Autonomous Legged Robots.”
September 27, 1998 - IRST, Trento, Italy. “Teams of Robotic Soccer Agents: Simulation, Globally Controlled Wheeled Robots, and Autonomous Legged Robots.”
September 22, 1998 - Invited speaker at AIMSA’98, the 8th International Conference on AI: Method- ology, Systems, Applications, Sozopol, Bulgaria. “Teams of Robotic Soccer Agents: Simulation, Globally Controlled Wheeled Robots, and Autonomous Legged Robots.”
August 19, 1998 - Dartmouth University. “Teams of Robotic Soccer Agents: Simulation, Globally Controlled Wheeled Robots, and Autonomous Legged Robots.”
June 1, 1998 - Smithsonian Museum, Washington, DC. “Teams of Intelligent Robotic Agents.”
March 20, 1998 - Carnegie Mellon University, Speaker of Honor for Women in Science and Engi- neering. “Strategy, Collaboration and Learning in Teams of Autonomous Agents.”
January 10, 1998 – Westinghouse Science Honors. “Teams of Autonomous Robotic Agents.” 1997
5 October 28, 1997 - Carnegie Mellon University, Freshmen Immigration Course, Computer Science Department. “Collaboration and Learning in Autonomous Intelligent Agents.”
October 24, 1997 - Carnegie Mellon University, University Family Weekend. “Collaboration and Learning in Autonomous Intelligent Agents.”
October 8, 1997 – Instituto de Sistemas e Robotica´ , Instituto Superior Tecnico,´ Lisbon, Portugal. “Towards Continuous Planning, Execution, and Learning in MultiAgent Systems: A Team of Robotic Soccer Agents.”
October 7, 1997 – Workshop on Multiagent Systems, EPIA-97, Portugal. “Towards Continuous Planning, Execution, and Learning in MultiAgent Systems: A Team of Robotic Soccer Agents.”
September 30, 1997 – Advanced Mechatronics Lab Seminar, Carnegie Mellon University. “To- wards Continuous Planning, Execution, and Learning in MultiAgent Systems: A Team of Robotic Soccer Agents.”
September 30, 1997 – Carnegie Mellon University, AI seminar. “Towards Continuous Planning, Execution, and Learning in MultiAgent Systems: A Team of Robotic Soccer Agents.”
September 3, 1997 – ETL, Japan. “Towards Continuous Planning, Execution, and Learning in Mul- tiAgent Systems: A Team of Robotic Soccer Agents.”
February 10th, 1997 – Information Sciences Institute, University of Southern California, Marina del Rey, CA. “Using Analogical Plan Replay in Conditional, Mixed-Initiative, and Multiagent Planning.”
January 18, 1997 – Westinghouse Science Honors, Pittsburgh. “Computers that Think and Learn.” 1996
December 3, 1996 – Carnegie Mellon University, AI seminar. “Towards Collaborative Planning.”
November 1996 – Dagstuhl, Germany, seminar series on Control of Search in AI planning.
October 22, 1996 – Freshmen Immigration Course, Computer Science Department, Carnegie Mel- lon University. “What is Artificial Intelligence?”
October 7, 1996 – University of Chicago, Department of Computer Science. “Learning and Orches- tration in Multi-agent and Multi-task Systems.”
October 5, 1996 – Carnegie Mellon University, The “Herstories” retreat on “Culture Crossing.”
October 3, 1996 – Carnegie Group, Inc., Pittsburgh, “Machine Learning in Planning.”
April 19, 1996 – National Portuguese Television, RTP2, Lisbon, Portugal. First show of a new TV series on scientific themes, title of the show: “Rumo a` Lua” (Towards the Moon). Interviewed by C. Correia on the theme of “Robotics, Machine Intelligence, and the Biological Similarity to Insects.”
March 4, 1996 – Carnegie Mellon University, High School Day, organized by the Society of Women Engineers. “Computer Science: Exciting today and in the future.”
January 22, 1996 – Naval Research Laboratory, Washington, DC. “Towards Experience-Based Agents that Plan, Act, and Perceive.” 1995
December 20, 1995 – University of Aveiro, Portugal. “Einstein and Edison: Compromise in Univer- sity Research”
November 30, 1995 – MIT AI Lab. “Towards Experience-Based Agents that Plan, Act, and Per- ceive.”
October 4, 1995 – Invited talk at EPIA-95, the Seventh Portuguese Conference on Artificial Intelli- gence, Madeira, Portugal. “Agents that Plan and Learn.”
6 August 30, 1995 – ARPA Sisto Symposium. “Planning by Retrieving and Merging Planning Cases.” 1994
June 29 - July 9, 1994 – University of Kaiserslautern, Germany. “Comparison of Planning Algo- rithms.”
July 6, 1994 – University of Saarbruck¨ en, Germany. “Machine Learning in Problem Solving.”
June 1994 – Invited chair of the panel on “Planning and Learning” at the Second International Con- ference on Planning Systems.
May 15-20, 1994 - University of Sao˜ Paulo, Brazil. Course on Planning and Learning. 1993
November 1993 – Invited keynote speaker at the First European Workshop on Case-Based Reason- ing, Kaiserslautern, Germany. “Analogical/Case-Based Reasoning in General Problem Solving.”
November 8, 1993 – University of Kaiserslautern, Germany. “Learning by Analogical Reasoning in General Problem Solving.”
May 4, 1993 – Faculty of Economy, Lisbon, Portugal. “Academics and Research: A Ph.D. graduating experience at Carnegie Mellon.”
February 1993 – Selected presentation at the 1993 DARPA Workshop on Planning. “Acquiring Planning Expertise by Analogical Reasoning.” 1992
October 14, 1992 - University of Chicago, Department of Computer Science. “Learning by Analog- ical Reasoning in General Problem Solving.”
May 1, 1992 - Mitsubishi Research, Cambridge, “Learning by Analogical Reasoning in General Problem Solving.”
April 30, 1992 - Johns Hopkins University, Department of Computer Science. “Learning by Ana- logical Reasoning in General Problem Solving.”
April 29, 1992 - Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science. “Learning by Analogical Reasoning in General Problem Solving.”
April 27, 1992 - Purdue University, Department of Computer Science. “Learning by Analogical Reasoning in General Problem Solving.”
April 22, 1992 - University of Massachusetts, Amherst, Department of Computer Science. “Learn- ing by Analogical Reasoning in General Problem Solving.”
April 20, 1992 - Carnegie Mellon University, Department of Computer Science. “Learning by Analogical Reasoning in General Problem Solving.”
April 15, 1992 - Columbia University, Department of Computer Science. “Learning by Analogical Reasoning in General Problem Solving.”
April 13, 1992 - University of Pittsburgh, Department of Information Science. “Learning by Ana- logical Reasoning in General Problem Solving.”
April 10, 1992 - Boston University, Department of Computer Science. “Learning by Analogical Reasoning in General Problem Solving.”
April 8, 1992 - AT&T Research, “Learning by Analogical Reasoning in General Problem Solving.”
April 1, 1992 - NEC, “Learning by Analogical Reasoning in General Problem Solving.”
March 20, 1992 - Information Sciences Institute, “Learning by Analogical Reasoning in General Problem Solving.”
7 March 16, 1992 - Institute for the Learning Sciences, Northwestern University. “Learning by Ana- logical Reasoning in General Problem Solving.”
March 12, 1992 - Oregon State University, Department of Computer Science. “Learning by Ana- logical Reasoning in General Problem Solving.”
List of Publications Books 1. Manuela Veloso, Enrico Pagello, and Hiroaki Kitano, editors. RoboCup-99: Robot Soccer World Cup III. Springer Verlag, July 2000.
2. Katsu Ikeuchi and Manuela Veloso, editors. Symbolic Visual Learning. Oxford University Press, March 1997.
3. Manuela Veloso and Agnar Aamodt, editors. Case-Based Reasoning Research and Development. Springer Verlag, October 1995.
4. Manuela M. Veloso. Planning and Learning by Analogical Reasoning. Springer Verlag, December 1994. Journal Articles 2002
5. Michael Bowling and Manuela Veloso. Rational and convergent learning in stochastic games. Artifi- cial Intelligence, in press, 2002.
6. Bryan Singer and Manuela Veloso. Automating the modeling and optimization of the performance of signal transforms. IEEE Transactions on Signal Processing, in press, 2002. 2001
7. Bryan Singer and Manuela Veloso. Learning to construct fast signal processing implementations. Journal of Machine Learning Research, 2001, under submission. 2000
8. 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.
9. Peter Stone and Manuela Veloso. Multiagent systems: A survey from a machine learning perspective. Autonomous Robots, 8(3):345–383, 2000.
10. Astro Teller and Manuela Veloso. Internal reinforcement in a connectionist genetic programming approach. Artificial Intelligence, 120/2, July 2000. 1999
11. Minoru Asada, Hiroaki Kitano, Itsuki Noda, and Manuela Veloso. RoboCup: Today and tomorrow – What we have have learned. Artificial Intelligence, 110:193–214, 1999.
12. 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.
8 13. Paola Rizzo, Manuela Veloso, Maria Miceli, and Amedeo Cesta. Goal-based personalities and social behaviors in believable agents. Applied Artificial Intelligence, 13:239–272, 1999.
14. 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.
15. 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. 1998
16. Karen Zita Haigh and Manuela M. Veloso. Interleaving planning and robot execution for asyn- chronous user requests. Autonomous Robots, 5(1):79–95, March 1998. 17. Peter Stone and Manuela Veloso. A layered approach to learning client behaviors in the RoboCup soccer server. Applied Artificial Intelligence, 12:165–188, 1998.
18. Peter Stone and Manuela Veloso. Towards collaborative and adversarial learning: A case study in robotic soccer. International Journal of Human-Computer Systems, 48, 1998. 1997-1993
19. 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.
20. Yury Smirnov, Sven Koenig, and Manuela M. Veloso. Heuristic-driven “treasure hunt” with linear performance guarantees. Congress Numerantium Journal, 117:193–205, 1996.
21. Manuela M. Veloso, Hector´ Munoz-Avila, and Ralph Bergmann. General-purpose case-based plan- ning: Methods and systems. AI Communications, 9(3):128–137, 1996. Also in Kunstlic¨ he Intelligenz, 1:22-28, 1996, in German (with reversed order of the authors).).
22. 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.
23. Astro Teller and Manuela M. Veloso. Program evolution for data mining. International Journal of Expert Systems, 8(3):213–236, 1995.
24. Manuela M. Veloso and Peter Stone. FLECS: Planning with a flexible commitment strategy. Journal of Artificial Intelligence Research, 3:25–52, 1995. 25. Manuela M. Veloso, Jaime Carbonell, M. Alicia Perez,´ Daniel Borrajo, Eugene Fink, and Jim Blythe. Integrating planning and learning: The PRODIGY architecture. Journal of Experimental and Theo- retical Artificial Intelligence, 7(1):81–120, 1995.
26. Manuela M. Veloso and Jaime G. Carbonell. Derivational analogy in PRODIGY: Automating case acquisition, storage, and utilization. Machine Learning, 10:249–278, 1993. Magazine Articles 27. Manuela Veloso, Tucker Balch, Peter Stone, and Hiroaki Kitano. Overview of RoboCup-2001. AI Magazine, in press, Spring 2002.
28. Minoru Asada, Manuela Veloso, Milind Tambe, Itsuki Noda, Hiroaki Kitano, and Gerhard Kraet- zschmar. Overview of RoboCup-98. AI Magazine, 21(1):9–19, Spring 2000.
9 29. Peter Stone, Manuela Veloso, and Patrick Riley. CMUnited-98: RoboCup-98 simulator world cham- pion team. AI Magazine, 21(1):20–28, Spring 2000.
30. 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.
31. Masahiro Fujita, Manuela Veloso, William Uther, Minoru Asada, Hiroaki Kitanon, Vincent Hugel, Patrick Bonnin, Jean-Christophe Bouramoue,´ and Pierre Blazevic. Vision, strategy, and localization using the Sony legged robots at RoboCup-98. AI Magazine, 21(1):47–56, Spring 2000.
32. Manuela Veloso, William Uther, and Masahiro Fujita. Walking soccer-playing robots. Robot Science and Technology Magazine, November 1998.
33. Manuela Veloso, Peter Stone, and Kwun Han. CMUnited-97: RoboCup-97 small-robot world cham- pion team. AI Magazine, 19(3):61–69, 1998.
34. 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. Conference Papers 2002
35. Patrick Riley, Manuela Veloso, and Gal Kaminka. Any team coaching. In Proceedings of the First International Joint Conference on Autonomous Agents and Multi-Agent Systems, Bologna, Italy, July 2002, to appear.
36. Paul Carpenter, Patrick Riley, Manuela Veloso, and Gal Kaminka. Integration of advice in an action- selection architecture. In Proceedings of RoboCup-2002, Fukuoka, Japan, June 2002, under submis- sion.
37. Gal Kaminka, Mehmet Fidanboylu, Allen Chang, and Manuela Veloso. Learning the sequential co- ordinated behavior of teams from observations. In Proceedings of RoboCup-2002, Fukuoka, Japan, June 2002, under submission.
38. Patrick Riley, Manuela Veloso, and Gal Kaminka. An empirical study of coaching. In Proceedings of DARS-2002, the Seventh International Symposium on Distributed Autonomous Robotic Systems, Fukuoka, Japan, June 2002, to appear.
39. Brett Browning, Gal Kaminka, and Manuela Veloso. Principled monitoring of distributed agents for detection of coordination failure. In Proceedings of DARS-2002, the Seventh International Symposium on Distributed Autonomous Robotic Systems, Fukuoka, Japan, June 2002, to appear.
40. Brett Browning, Michael Bowling, and Manuela Veloso. Improbability filtering for rejecting false positives. In Proceedings of 2002 IEEE International Conference on Robotics and Automation, Wash- ington, DC, May 2002, to appear.
41. Patrick Riley and Manuela Veloso. Planning for distributed execution through use of probabilistic opponent models. In Proceedings of the Sixth International Conference on Artificial Intelligence Planning Systems, Toulouse, France, April 2002, to appear.
10 42. 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, to appear. 2001
43. Bryan Singer and Manuela M. Veloso. Stochastic search for signal processing algorithm optimization. In Proceedings of SC2001 - Scientific Computing 2001, Denver, Colorado, November 2001.
44. Rune Jensen, Manuela Veloso, and Michael Bowling. Optimistic and strong cyclic adversarial plan- ning. In Proceedings of ECP-2001, European Conference on Planning, Toledo, Spain, October 2001.
45. Michael Bowling and Manuela Veloso. Rational learning of mixed equilibria in stochastic games. In Proceedings of IJCAI-2001, (selected paper for submission to Artificial Intelligence), August 2001.
46. Michael Bowling and Manuela Veloso. Convergence of gradient dynamics with a variable learning rate. In Proceedings of ICML-2001, pages 27–34, Williams College, MA, June 2001.
47. Bryan Singer and Manuela Veloso. Learning to generate fast signal processing implementations. In Proceedings of ICML-2001, pages 529–536, Williams College, MA, June 2001.
48. 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.
49. Scott Lenser, James Bruce, and Manuela Veloso. CMPack: A complete software system for au- tonomous legged soccer robots. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001. Best Paper Award in the Software Prototypes Track, Honorable Mention.
50. Patrick Riley and Manuela Veloso. Adaptive team coaching using opponent model selection. In Pro- ceedings of the Fifth International Conference on Autonomous Agents, May 2001.
51. Markus Puschel,¨ Bryan Singer, Manuela Veloso, and Jose´ M.F. Moura. Fast automatic generation of dsp algorithms. In Proceedings of the Special Session on Architecture-Specific Automatic Perfor- mance Tuning at the International Conference on Computational Science, April 2001. 2000
52. Minoru Asada, Andreas Birk, Enrico Pagello, Masahiro Fujita, Itsuki Noda, Satoshi Tadokoro, Do- minique 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.
53. James Bruce, Tucker Balch, and Manuela Veloso. Fast and inexpensive color image segmentation for interactive robots. In Proceedings of IROS-2000, Japan, October 2000.
54. Patrick Riley and Manuela Veloso. On behavior classification in adversarial environments. In Pro- ceedings of DARS-00, the Fifth International Symposium on Distributed Autonomous Robotic Sys- tems, October 2000.
55. Elly Winner and Manuela Veloso. Multi-fidelity behaviors: Acting with variable state information. In Proceedings of AAAI-00, August 2000.
11 56. Patrick Riley and Manuela Veloso. Towards behavior classification: A case study in robotic soccer. In Proceedings of AAAI-00 (student abstract), August 2000.
57. 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 Artifi- cial Intelligence, (IAAI-00), August 2000.
58. 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-00), July 2000, Texas.
59. Patrick Riley, Peter Stone, and Manuela Veloso. Layered disclosure: Revealing agents’ internals. In Proceedings of Agents, Theories, and Architectures (ATAL-00), Boston, July 2000.
60. Bryan Singer and Manuela Veloso. Learning to predict performance from formula modeling and train- ing data. In Proceedings of the Seventeenth International Conference on Machine Learning (ICML- 00), July 2000.
61. Astro Teller and Manuela Veloso. Efficient learning through evolution: Neural programming and in- ternal reinforcement. In Proceedings of the Seventeenth International Conference on Machine Learn- ing (ICML-00), July 2000.
62. Peter Stone, Patrick Riley, and Manuela Veloso. Why is the agent doing what it’s doing? In Proceed- ings of the Fourth International Conference on Autonomous Agents (Agents-00), Barcelona, June 2000.
63. Manuela Veloso, Tucker Balch, and Scott Lenser. Integrating information agents, planning, and ex- ecution monitoring. In Proceedings of the Fourth International Conference on Autonomous Agents (Agents-00), Barcelona, June 2000.
64. Peter Stone and Manuela Veloso. Layered learning. In Proceedings of the European Conference on Machine Learning, ECML-2000, June 2000.
65. 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, San Fran- cisco, CA, April 2000.
66. 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 In- telligence Planning Systems (AIPS-00), Breckenridge, CO, April 2000.
67. Manuela Veloso, Elly Winner, Scott Lenser, James Bruce, and Tucker Balch. Vision-servoed localiza- tion and behavior-based planning for an autonomous quadruped legged robot. In Proceedings of the Fifth International Conference on Artificial Intelligence Planning Systems (AIPS-00), Breckenridge, CO, April 2000.
68. Rune Jensen and Manuela Veloso. The UMOP planning framework: Results in classical deterministic domains. In Proceedings of the AIPS-2000 Worskhop on Model Checking Planning, Breckenridge, CO, April 2000.
12 1999 69. 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. 70. Kwun Han and Manuela Veloso. Automated robot behavior recognition applied to robotic soccer. In Proceedings of the 9th International Symposium of Robotics Research (ISRR-99), pages 199–204, Snowbird, Utah, October 1999. Also in Proceedings of IJCAI-99 Workshop on Team Behaviors and Plan Recognition. 71. 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, volume 3839, Boston, September 1999. 72. Michael Bowling and Manuela Veloso. Bounding the suboptimality of reusing subproblems. In Pro- ceedings of IJCAI-99, August 1999. 73. Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. CMUnited-98: A team of robotic soccer agents. In Proceedings of the Eleventh Annual Conference on Innovative Ap- plications of Artificial Intelligence, (IAAI-99), July 1999. 74. Peter Stone and Manuela Veloso. Team partitioned, opaque transition reinforcement learning. In Proceedings of the Third International Conference on Autonomous Agents, pages 206–212, July 1999. 1998 75. Michael Bowling and Manuela Veloso. Bounding the suboptimality of reusing subproblems. In Pro- ceedings of the NIPS Workshop on Abstraction in Reinforcement Learning, December 1998. 76. 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. 77. 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. 78. 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. 79. Michael Bowling and Manuela Veloso. Reusing learned policies between similar problems. In Pro- ceedings of the AI*IA-98 Workshop on New Trends in Robotics, Padua, Italy, October 1998. 80. 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. 81. 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, pages 309–316, Paris, July 1998. 82. Manuela M. Veloso, Martha E. Pollack, and Michael T. Cox. Rationale-based monitoring for contin- uous planning in dynamic environments. In Proceedings of the Fourth International Conference on Artificial Intelligence Planning Systems (AIPS-98), pages 171–179, Pittsburgh, PA, June 1998.
13 83. Karen Zita Haigh and Manuela M. Veloso. Planning, execution and learning in a robotic agent. In Pro- ceedings of the Fourth International Conference on Artificial Intelligence Planning Systems (AIPS- 98), pages 120–127, Pittsburgh, PA, June 1998.
84. Kwun Han and Manuela Veloso. Reactive visual control of multiple non-holonomic robotic agents. In Proceedings of the International Conference on Robotics and Automation (ICRA-98), Belgium, May 1998.
85. Peter Stone and Manuela Veloso. Using decision tree confidence factors for multiagent control. In Proceedings of the Second International Conference on Autonomous Agents (Agents-98), Minneapo- lis, MN, May 1998. 1997
86. 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.
87. Manuela Veloso, Alice Mulvehill, and Michael Cox. Rationale-supported mixed-initiative case-based planning. In Proceedings of IAAI-97, Innovative Applications of Artificial Intelligence, pages 1072– 1077, Providence, Rhode Island, July 1997.
88. Jim Blythe and Manuela M. Veloso. Analogical replay for efficient conditional planning. In Proceed- ings of AAAI-97, pages 668–673, Providence, Rhode Island, July 1997.
89. 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, pages 531–540. Springer Verlag, July 1997.
90. Manuela M. Veloso. Merge strategies for multiple case plan replay. In Case-Based Reasoning Re- search and Development, Proceedings of ICCBR-97, the Second International Conference on Case- Based Reasoning, pages 413–424. Springer Verlag, July 1997.
91. 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 Intelli- gence, pages 309–318. Springer Verlag, May 1997.
92. Yury Smirnov and Manuela M. Veloso. Gensat: A navigational approach. In Proceedings of EPIA- 97, the Eighth Portuguese Conference on Artificial Intelligence, pages 85–96. Springer Verlag, May 1997.
93. 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.
94. 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, pages 530–531, Marina del Rey, CA, February 1997.
14 1996
95. Luiz E. Souza and Manuela M. Veloso. Flexible planning knowledge acquisition for industrial pro- cesses. In Proceedings of the First International Conference on Industrial Engineering Applications and Practice, Houston, TX, December 1996.
96. Karen Zita Haigh and Manuela M. Veloso. Interleaving planning and robot execution for asyn- chronous user requests. In Proceedings of Intelligent Robots and Systems Conference (IROS-96), Osaka, Japan, November 1996.
97. Yury Smirnov and Manuela M. Veloso. Efficiency competition through representation changes: Pi- geonhole principle versus linear programming relaxation. In Proceedings of KR’96, the Fifth Inter- national Conference on Principles of Knowledge Representation and Reasoning, November 1996.
98. Astro Teller and Manuela M. Veloso. Neural programming and internal reinforcement. In Proceedings of the First International Conference on Simulated Evolution and Learning, Taejon, South Korea, November 1996.
99. Mike Bowling, Peter Stone, and Manuela M. Veloso. Predictive memory for an inaccessible environ- ment. In Working Notes of the IROS-96 Workshop on RoboCup, Osaka, Japan, November 1996.
100. 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.
101. 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.
102. Yury Smirnov, Sven Koenig, Manuela M. Veloso, and Reid Simmons. Efficient goal-directed ex- ploration. In Proceedings of AAAI-96, the Thirteenth National Conference on Artificial Intelligence, pages 292–297, August 1996.
103. 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.
104. 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. 1995
105. Peter Stone and Manuela M. Veloso. Beating a defender in robotic soccer: Memory-based learning of a continuous function. In David S. Touretzky, Michael C. Mozer, and Michael E. Hasselmo, editors, NIPS-95, Advances in Neural Information Processing Systems 8, Cambridge, MA, 1995. MIT press.
106. Yury V. Smirnov, Sven Koenig, and Manuela M. Veloso. Efficient exploration of unknown envi- ronments. In American Mathematical Society Meetings, pages 799, abstract, Kent State University, November 1995.
107. Astro Teller and Manuela M. Veloso. Algorithm evolution for face recognition: What makes a picture difficult. In Proceedings of the International Conference on Evolutionary Computation. IEEE Press, October 1995.
15 108. Karen Zita Haigh and Manuela M. Veloso. Route planning by analogy. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-95, pages 169–180. Springer-Verlag, October 1995.
109. Astro Teller and Manuela M. Veloso. Language representation progression in PADO. In AAAI Fall Symposium Series, pages 106–113. AAAI Press, October 1995.
110. Astro Teller and Manuela M. Veloso. A controlled experiment: Evolution for learning difficult image classification. In Proceedings of the Seventh Portuguese Conference on Artificial Intelligence (EPIA- 95), pages 165–176. Springer Verlag, October 1995. 1994
111. Manuela M. Veloso and Daniel Borrajo. Learning strategy knowledge incrementally. In Proceed- ings of the 6th International Conference on Tools with Artificial Intelligence, pages 484–490, New Orleans, LA, November 1994.
112. 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.
113. 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.
114. 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, pages 137–141, New Orleans, LA, November 1994.
115. Manuela M. Veloso. Flexible strategy learning: Analogical replay of problem solving episodes. In Proceedings of AAAI-94, the Twelfth National Conference on Artificial Intelligence, pages 595–600, Seattle, WA, August 1994. AAAI Press.
116. Erica Melis and Manuela M. Veloso. Analogy makes proofs feasible. In Preprints of the AAAI Work- shop on Case-based Reasoning. AAAI Press, Menlo Park, CA, August 1994.
117. Peter Stone, Manuela M. Veloso, and Jim Blythe. The need for different domain-independent heuris- tics. In Proceedings of the Second International Conference on AI Planning Systems (AIPS-94), pages 164–169, June 1994.
118. 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 (AIPS-94), pages 170–175, June 1994.
119. Xuemei Wang and Manuela M. Veloso. Learning planning knowledge by observation and practice. In Proceedings of the ARPA Planning Workshop, pages 285–294, Tucson, AZ, February 1994.
120. 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, pages 64–82. Springer Verlag, April 1994.
16 1993
121. 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, volume WS-93-01, pages 79–85, Washington, DC, AAAI Press, July 1993.
122. 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, pages 21–27, Amherst, MA, June 1993.
123. Robert B. Doorenbos and Manuela M. Veloso. Knowledge organization and the utility problem. In Proceedings of the Third International Workshop on Knowledge Compilation and Speedup Learning, pages 28–34, Amherst, MA, June 1993.
124. M. Alicia Perez´ 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, pages 117–121, Stanford, March 1993.
125. 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, pages 146–150, Stanford, March 1993. 1992
126. 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, pages 13–19, College Park, MD, June 1992.
127. 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. 1991-1981
128. Manuela M. Veloso. Efficient nonlinear planning using casual commitment and analogical reasoning. In Proceedings of the Thirteenth Annual Conference of the Cognitive Science Society, pages 938–943, University of Chicago, IL, August 1991. Lawrence Erlbaum.
129. 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, pages 93–106, Washington, DC, May 1991. Morgan Kaufmann.
130. Manuela M. Veloso and Jaime G. Carbonell. Learning by analogical replay in PRODIGY: First results. In Proceedings of the European Working Session on Learning, pages 375–390, Porto, Portugal, March 1991. Springer-Verlag.
131. 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, pages 997–1004, MIT, MA, July 1990.
132. Manuela M. Veloso, M. Alicia Perez,´ and Jaime G. Carbonell. Nonlinear planning with parallel resource allocation. In Proceedings of the DARPA Workshop on Innovative Approaches to Planning, Scheduling, and Control, pages 207–212, San Diego, CA, November 1990. Morgan Kaufmann.
17 133. 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.
134. 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, pages 153–158, Pensacola, FL, May 1989. Morgan Kaufmann.
135. 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, pages 104–124, Tampa, FL, May 1988. Morgan Kaufmann.
136. Manuela M. Veloso and Jose´ M. F. Moura. Conceptual scheme and data structure for an applicational database. In Proceedings of the First National Workshop in Electrical and Computer Engineering, Portugal, 1983. (in Portuguese).
137. Antonio´ Mano and Manuela M. Veloso. Parameter estimation in nonlinear vector functions: the ESPA package. In Proceedings of the Vigo Workshop on Signal Processing, Spain, July 1981.
Book Chapters 2002
138. James Bruce, Scott Lenser, and Manuela Veloso.Fast walking for legged robots.In A. Birk, S. Corade- schi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002, forthcoming.
139. 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, forthcoming.
140. Patrick Riley and Manuela Veloso.Adaptive team-adversarial coaching.In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002, forthcoming. 2001
141. Scott Lenser, James Bruce, and Manuela Veloso. CM-Pack’00. In P. Stone, T. Balch, and G. Kraet- zschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 623–626. Springer Verlag, Berlin, 2001.
142. Patrick Riley, Peter Stone, David McAllester, and Manuela Veloso. ATT-CMUnited-2000: Third place finisher in the RoboCup-2000 simulator league. In P. Stone, T. Balch, and G. Kraetzschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 489–492. Springer Verlag, Berlin, 2001. 2000
143. 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, pages 1–34. Springer Verlag, Berlin, 2000.
18 144. Peter Stone, Patrick Riley, and Manuela Veloso. The CMUnited-99 champion simulator team. In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pages 35–44. Springer Verlag, Berlin, 2000.
145. 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, pages 222–230. Springer Verlag, Berlin, 2000.
146. 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, pages 495–508. Springer Verlag, Berlin, 2000.
147. 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, pages 661–662. Springer Verlag, Berlin, 2000.
148. 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, pages 766–769. Springer Verlag, Berlin, 2000. 1999
149. 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), volume 1555 of Lecture Notes in Artificial Intelligence, pages 293–308. Springer-Verlag, Heidelberg, 1999.
150. 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 Soc- cer World Cup II, pages 77–92. Springer Verlag, Berlin, 1999.
151. 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, pages 491–497. Springer Verlag, Berlin, 1999.
152. Peter Stone, Manuela Veloso, and Patrick Riley. The CMUnited-98 champion simulator team. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 61–76. Springer Verlag, Berlin, 1999.
153. Peter Stone and Manuela Veloso. Team-partitioned, opaque-transition reinforcement learning. In Mi- noru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 261–272. Springer Verlag, Berlin, 1999. 1998
154. 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, pages 85–97. Springer Verlag, Berlin, July 1998.
155. Peter Stone and Manuela Veloso. Using decision tree confidence factors for multiagent control. In Hiroaki Kitano, editor, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pages 99–111. Springer Verlag, Berlin, 1998.
19 156. Peter Stone and Manuela Veloso. The CMUnited’97 simulator team. In Hiroaki Kitano, editor, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pages 389–397. Springer Verlag, Berlin, 1998.
157. Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. CMUnited: A team of robotic soccer agents collaborating in an adversarial environment. In Hiroaki Kitano, editor, RoboCup-97: The First Robot World Cup Soccer Games and Conferences, pages 242–256. Springer Verlag, Berlin, 1998. 1997-1990
158. Astro Teller and Manuela M. Veloso. PADO: A new learning architecture for object recognition. In K. Ikeuchi and M. Veloso, editors, Symbolic Vision and Learning, pages 77–112. Oxford Press, 1997.
159. Manuela M. Veloso. Flexible strategy learning: Analogical replay of problem solving episodes. In David B. Leake, editor, Case-Based Reasoning: experiences, lessons, and future directions, pages 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.
160. Manuela M. Veloso. Towards mixed-initiative rationale-supported planning. In A. Tate, editor, Ad- vanced Planning Technology, pages 277–282. AAAI Press, May 1996.
161. Peter Stone and Manuela M. Veloso. User-guided interleaving of planning and execution. In New Directions in AI Planning, pages 103–112. IOS Press, 1996.
162. Eugene Fink and Manuela M. Veloso. Formalizing the PRODIGY planning algorithm. In New Di- rections in AI Planning, pages 261–272. IOS Press, 1996. An earlier extended version is available as technical report CMU-CS-94-123, 1994.
163. 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, pages 33–50. Springer Ver- lag, 1994.
164. 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, pages 523–548. Morgan Kaufmann, 1994.
165. Manuela M. Veloso and Jaime G. Carbonell. Towards scaling up machine learning: A case study with derivational analogy in PRODIGY. In S. Minton, editor, Machine Learning Methods for Planning, pages 233–272. Morgan Kaufmann, 1993.
166. Manuela M. Veloso and Jaime G. Carbonell. Integrating analogy into a general problem-solving architecture. In Maria Zemankova and Zbigniew Ras, editors, Intelligent Systems, pages 29–51. Ellis Horwood, Chichester, England, 1990. Technical Reports 167. 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.
168. Bryan Singer and Manuela Veloso. Automated formula generation and performance learning for the FFT. Technical report CMU-CS-00-123, Computer Science Department, Carnegie Mellon Uni- versity, 2000.
20 169. Bryan Singer and Manuela Veloso. Learning state features from policies to bias exploration in re- inforcement learning. Technical report CMU-CS-99-122, Computer Science Department, Carnegie Mellon University, 1999.
170. 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 Depart- ment, Carnegie Mellon University, 1997.
171. 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.
172. Astro Teller and Manuela M. Veloso.PADO: Learning tree structured algorithms for orchestration into an object recognition system. Technical Report CMU-CS-95-101, Department of Computer Science, Carnegie Mellon University, 1995.
173. Eugene Fink and Manuela M. Veloso. PRODIGY planning algorithm. Technical Report CMU-CS- 94-123, School of Computer Science, Carnegie Mellon University, 1994.
174. Jaime G. Carbonell, Jim Blythe, Oren Etzioni, Yolanda Gil, Robert Joseph, Dan Kahn, Craig Knoblock, Steven Minton, Alicia Perez,´ Scott Reilly, Manuela M. Veloso, and Xuemei Wang. PRODIGY4.0: The manual and tutorial. Technical Report CMU-CS-92-150, Department of Com- puter Science, Carnegie Mellon University, 1992.
175. Manuela M. Veloso. Learning by Analogical Reasoning in General Problem Solving. PhD thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, August 1992. Available as technical report CMU-CS-92-174.
176. Manuela M. Veloso. Nonlinear problem solving using intelligent casual-commitment. Technical Re- port CMU-CS-89-210, School of Computer Science, Carnegie Mellon University, 1989.
177. Jose´ M. F. Moura and Manuela M. Veloso. A management information system for the production control of an industrial plant. Tecnica´ , November 1985. (in Portuguese).
178. Manuela M. Veloso. A management information system for the production control of an industrial plant: Logical structure and distributed processing. M.Sc. thesis, Electrical and Computer Engineer- ing Department, Instituto Superior Tecnico,´ Lisbon, 1984. (in Portuguese).
21