Publications [ by
Topic ] [ by
Date ] Overview
of Model-based Programming, Execution and Autonomous
Systems
- Brian C. Williams, Michel Ingham, Seung
H. Chung, and Paul H. Elliott, "Model-based
Programming of Intelligent Embedded Systems
and Robotic Space Explorers," Invited
Paper, Proceedings of the IEEE: Special
Issue on Modeling and Design of Embedded Software,
vol. 91, no. 1, pp. 212-237, January 2003.
[Paper
PDF]
- Brian C. Williams, Michel Ingham, Seung
Chung, Paul Elliott, and Michael Hofbaur,"Model-based
Programming of Fault-Aware Systems," AI Magazine, vol. 24, no. 4, pp.
61-75, 2004. [Paper
PDF]
- Brian C. Williams and P. Pandurang Nayak,
"Immobile Robots: Artificial Intelligence
in the New Millennium," Cover article
of AI Magazine, 17(3):16-35, Fall 1996. [View
abstract][Paper
PS (769k)][Paper
PDF (668k)]
[Slides]
- Nicola Muscettola, P. Pandurang Nayak, Barney
Pell, and Brian C. Williams, "Remote
Agent: To Boldly Go Where No AI System Has
Gone Before," Artificial Intelligence 103(1-2):5-48, August 1998.[View
abstract] [Paper
PDF (338k)]
Thrust
1: Model-based Programming of Discrete, Stochastic
Systems.
Execution,
Planning and Recovery
Thrust
2: Model-based Programming to Coordinate Multiple
Agents
Execution,
Planning and Recovery
Thrust
3: Model-based Programming of Dynamic Systems
Execution,
Planning and Recovery
- Ashis Banerjee, Masahiro Ono, Nicholas Roy, and Brian C. Williams, "Regression-based LP Solver for Chance-Constrained Finite Horizon Optimal Control with Nonconvex Constraints," American Control Conference, San Francisco, CA, July 2011. [Paper PDF]
- M. Ono, B. Williams, "Decentralized Chance-Constrained Finite-Horizon Optimal Control for Multi-Agent Systems," IEEE Conference on Decision and Control, Atlanta, GA, December, 2010. [Paper PDF]
- Masahiro Ono, Lars Blackmore, and Brian C. Williams, "Chance Constrained Finite Horizon Optimal Control with Nonconvex Constraints,"American Control Conference, Baltimore, MD, July 2010. [Paper PDF]
- Masahiro Ono and Brian C. Williams, "Market-based Risk Allocation Optimization," in Proceedings of Third International Workshop on 9th International Conference on Autonomous Agents and Multiagent Systems (OPTMAS-10), 2010. [Paper PDF]
- "A Probabilistic Particle Control Approximation of Chance Constrained Stochastic Predictive Control." L. Blackmore, M. Ono, A. Bektassov and B. C. Williams. Accepted for publication in IEEE Transactions on Robotics. [Paper
PDF]
- Lars Blackmore and Masahiro Ono, “Convex Chance Constrained Predictive
Control Without Sampling,” in Proceedings of the AIAA Guidance,
Navigation and Control Conference, 2009 [Paper
PDF]
- Masahiro Ono and Brian C. Williams, "Market-based Risk Allocation for
Multi-agent Systems," Doctoral Consortium of the 19th International
Conference on
Automated Planning and Scheduling (ICAPS-09), 2009 [Paper
PDF]
- "Active Estimation for Jump Markov Linear Systems." L. Blackmore, S. Rajamanoharan and B. C. Williams. IEEE Transactions on Automatic Control, Nov 2008, Volume 53, Issue 10, pages 2223-2236. [Paper
PDF]
- Hui Li and Brian Williams, Generative Planning for Hybrid Systems based on Flow Tubes, the International Conference on Automated Planning and Scheduling (ICAPS), Sydney, Australia, 2008. [Paper
PDF]
- Masahiro Ono and Brian C. Williams, "An Efficient Motion Planning Algorithm for Stochastic Dynamic Systems with Constraints on Probability of Failure," Twenty-Third AAAI Conference on Artificial Intelligence (AAAI-08), Chicago, IL, July 2008
[Paper
PDF] [Slides]
- Masahiro Ono, "Distributed Robust Execution of Qualitative State Plan with Chance Constraints," Thirteenth AAAI/SIGART Doctoral Consortium, Chicago, IL, July 2008 [Paper
PDF] [Slides]
- Masahiro Ono and Brian C. Williams, "Iterative Risk Allocation: A New Approach to Robust Model Predictive Control with a Joint Chance Constraint," to be appeared in Proceedings of 47th IEEE Conference on Decision and Control, Cancun, Mexico, December 2008 [Paper
PDF]
- Lawrence A. Bush, Brian Williams and Nicholas Roy, "Computing Exploration Policies via Closed-form Least-Squares Value Iteration," ICAPS 2008. [Paper
PDF]
- Lars Blackmore, Senthooran
Rajamanoharan, and Brian C. Williams, "Active
Estimation for Switching Linear Dynamic Systems," 45th IEEE Conference
on Decision and Control, San Diego, California,
December 2006.[Paper
PDF] [Slides]
- Lars Blackmore and
Brian C. Williams, "Finite Horizon Control
Design for Optimal Discrimination between
Several Models," 45th
IEEE Conference on Decision and Control,
San Diego, California, December 2006.[Paper
PDF] [Slides]
- Lars Blackmore, "A
Probabilistic Particle Control Approach to
Optimal, Robust Predictive Control,"
Best Student Paper in the AIAA GNC Graduate
Student Paper Competition, Proceedings
of the AIAA Conference on Guidance Navigation
and Control, Keystone, Ohio, August 2006.
[Paper
PDF] [Slides]
- Andreas G. Hofmann
and Brian C. Williams, "Exploiting Spatial
and Temporal Flexiblity for Plan Execution
of Hybrid, Under-Actuated Systems," Proceedings
of the 21st National Conference on Artficial
Intelligence, Boston, MA, July 2006, pp. 948-955.
[Paper
PDF] [Slides]
- Andreas G. Hofmann
and Brian C. Williams, "Robust Execution
of Temporally Flexible Plans for Bipedal Walking
Devices," Proceedings of the International
Conference on Automated Planning and Scheduling,
Cumbria, UK, June 2006. [Paper
PDF]
[Slides]
- also as "Safe
Execution of Temporally Flexible Plans
for Bipedal Walking Devices," Proceedings
of the ICAPS Plan Execution Workshop,
Monterey, CA, June 2005. [Paper
PDF]
- also in Proceedings
of the 8th International Symposium on
Artificial Intelligence, Robotics, and
Automation in Space (iSAIRAS-05),
Munich, Germany, September 2005. [Paper
PDF]
- Lars Blackmore and
Brian C. Williams,"Optimal Manipulator Path
Planning with Obstacles Using Disjunctive
Programming," American Control Conference,
Minneapolis, Minnesota, June 2006, pp. 3200-3202.. [Paper
PDF] [Slides]
- Lars Blackmore, Hui
Li, and Brian C. Williams,"A Probabilistic
Approach to Optimal Robust Path Planning with
Obstacles," American Control Conference,
Minneapolis, Minnesota, June 2006, pp. 2831-2837. [Paper
PDF] [Slides]
- Thomas Léauté and
B. C. Williams, "Coordinating Agile Systems
Through the Model-based Execution of Temporal
Plans," Proceedings of the Twentieth National
Conference on Artificial Intelligence (AAAI-05),
Pittsburgh, PA, July 2005, pp. 114-120. [Paper
PDF]
[Slides]
- also in Proceedings
of the ICAPS Workshop on Multi-agent Planning
and Scheduling, Monterey, CA, June
2005, pp. 22-28. [Slides]
Estimation,
Monitoring and Diagnosis
- 1.1. Blackmore, L., S. Gil, S. Chung and B. C. Williams, “Model Learning for Switching Linear Systems with Autonomous Mode Transitions,” Proceedings of the Control and Decision Conference, New Orleans, December, 2007. [Paper
PDF]
Optimal
Reasoning and Constraints (Optimal Satisfiability,
Valued Constraints, and Hybrid Constraints)
Tree
Decomposition Methods
- Martin Sachenbacher
and Brian C. Williams, "A* Search for Soft
Constraints Bounded by Tree Decompositions," CSAIL Memo, 2006. [Paper
PDF]
- Martin Sachenbacher
and Brian C. Williams, "On-demand Bound Computation
for Best-first Constraint Optimization," Tenth International Conference on Principles
and Practice of Constraint Programming (CP'04),
Toronto, Canada, 2004. Lecture Notes in Computer Science (LNCS) Vol. 3258:762-766, 2004.[Paper
PDF]
- Martin Sachenbacher
and Brian C. Williams,"On-demand Bound Computation
for Finding Leading Solutions to Soft Constraints," Proceedings of the 6th International Workshop
on Preferences and Soft Constraints (SOFT-04),
Toronto, Canada,2004, pp. 762-766. [Paper
PDF] [Slides]
Conflict-directed
Methods
- Robert Effinger and
Brian C. Williams, "Extending Dynamic
Backtracking to Solve Weighted Conditional
CSPs," Proceedings of the 21st National
Conference on Artificial Intelligence,
Boston, MA, July 2006, pp. 28-35. [Paper
PDF] [Slides]
- Martin Sachenbacher
and Brian C. Williams, "Conflict-Directed A* Search
for Soft Constraints," International
Conference on Integration of AI and OR Techniques
in Constraint Programming for Combinatorial
Optimization Problems (CPAIOR-06), Cork,
Ireland, June 2006, pp. 182-196. [Paper
PDF]
- also as"Solving Soft Constraints
by Separating Optimization and Satisfiability,"
in Proceedings of the International
Workshop on Preferences and Soft Constraints
(SOFT-05), Sitges, Spain, October
2005, pp. 119-132. [Paper
PDF]
- Hui Li and Brian C.
Williams, "Generalized Conflict Learning for
Hybrid Discrete/Linear Optimization," Proceedings
of the 11th International Conference on Principles
and Practices of Constraint Programming (CP-05),
Barcelona, Spain, September 2005 pp. 415-429. [Paper
PDF]
[Slides]
- also as "Efficiently
Solving Hybrid Logic/Optimization Problems
through Generalized Conflict Learning," Proceedings of the ICAPS Plan Execution
Workshop, Monterey, CA, June 2005, pp. 63-69.
[Paper PDF] [Slides]
- Brian C. Williams, and Robert Ragno, "Conflict-directed
A* and its Role in Model-based Embedded Systems,"
Special Issue on Theory
and Applications of Satisfiability Testing,
Journal of Discrete Applied Math,
January 2003. [View
abstract] [Preprint
Paper PDF] [Preprint
Paper PS]
- Brian C. Williams
and Jonathan Cagan, "Activity Analysis: Simplifying
Optimal Design Problems Through Qualitative
Partitioning," International Journal of
Engineering Optimization, 27:109-137,
1996. [Paper
PDF]
- Brian C. Williams
and Jonathan Cagan, "Activity Analysis: The
Qualitative Analysis of Stationary Points
for Optimal Reasoning," Proceedings of
the National Conference on Artificial Intelligence,
1994, pp. 1217-1223. [View
abstract] [Paper
PDF (211k)]
- also as "Activity
Analysis: Simplifying Optimal Design Problems
Through Qualitative Partitioning," Proceedings of the ASME Conference
on Design Theory and Methodology,
Boston, MA, 1995, pp. 455-463. [Paper
PDF]
- also as "Using
Activity Analysis to Identify Relevant
Constraints in Optimal Reasoning Problems," Proceedings of the Symposium on Abstraction,
Reformulation and Approximation,
1995.[View
abstract] [Paper
PDF (225k)]
- Vijay Saraswat, Johan
de Kleer and Brian C. Williams, "ATMS-based
Constraint Programming," ILPS Workshop
on Defeasible Reasoning and Constraint Solving,
San Diego, CA, 1991.
- Johan de Kleer and
Brian C. Williams, "Back to Backtracking:
Controlling the ATMS," Proceedings
of the National Conference on Artificial Intelligence,
Philadelphia, PA, 1986, pp. 910-917. [Paper
PDF]
Symbolic
Search Methods
- Martin Sachenbacher
and Brian C. Williams, "Bounded Search and
Symbolic Inference for Constraint Optimization," Proceedings of International Joint Conference
on Artificial Intelligence (IJCAI 05),
July 2005, pp. 286-291. [Paper
PDF]
- also as "Diagnosis
Using Bounded Search and Symbolic Inference," Proceedings of the 16th International
Workshop on Principles of Diagnosis (DX-05),
Monterey, CA, June 2005, pp. 67-72. [Paper
PDF] [Slides]
Incremental
Methods
- P. Pandurang Nayak and Brian C. Williams, "Fast Context Switching in Real-time
Propositional Reasoning, " Best paper
prize in Proceedings of the National Conference
on Artificial Intelligence. , 1997, pp. 50-56. [View
abstract] [Paper
(166K)]
Model-based
Autonomous System Architectures: Remote Agent
and Deep Space One
- Douglas E. Bernard, Gregory A. Dorais, Chuck
Fry, Edward B. Gamble Jr., Bob Kanefsky, James
Kurien, William Millar, Nicola Muscettola,
P. Pandurang Nayak, Barney Pell, Kanna Rajan,
Nicolas Rouquette, Benjamin Smith, Brian C.
Williams, "Design of the Remote
Agent Experiment for Spacecraft Autonomy,
" Proceedings of IEEE Aerospace Conference,
Snomass, CO. 1998, pp. 259-281.
[View
abstract] [Paper
PS (1.9M)] [Paper
PDF(246k)]
- Barney Pell, Douglas
E. Bernard, Steven A. Chien, Erann Gat, Nicola
Muscettola, P. Pandurang Nayak, Michael D.
Wagner, and Brian C. Williams, "An Autonomous
Spacecraft Agent Prototype, " Autonomous
Robots 5(1), March 1998. [Paper PDF]
- Barney Pell, Douglas
E. Bernard, Steven A. Chien, Erann Gat, Nicola
Muscettola, P. Pandurang Nayak, Michael D.
Wagner, and Brian C. Williams, "An Autonomous
Spacecraft Agent Prototype," Proceedings
of the First International Conference on Autonomous
Agents, Marina del Rey, CA, 1997. [View
abstract] [Paper
PDF (134k)]
- Barney Pell, Douglas E. Bernard, Steven
A. Chien, Erann Gat, Nicola Muscettola, P.
Pandurang Nayak, Michael D. Wagner, and Brian
C. Williams, "A Remote Agent Prototype
for Spacecraft Autonomy," Proceedings
of the SPIE Conference on Optical Science,
Engineering, and Instrumentation, 1996, pp. 259-281.
[View abstract]
[Paper PDF (223k)]
- Brian C. Williams,
"Model-based Autonomous Systems in the New
Millennium, " Proceedings of the International
Conference on Artificial Intelligence Planning
Systems, 1996, pp. 275-282. [View
abstract] [Paper
PS (229k)] [Paper PDF]
Qualitative
and Model-based Reasoning
- Johan de Kleer and
Brian C. Williams, "Special Volume on
Qualitative Reasoning about Physical Systems
II," Artificial Intelligence
- Brian C. Williams
et al., "Narrow Views, Old Tasks and New Beginnings," Computational Intelligence, 8:210-215,
1992. [Paper PDF]
- Brian C. Williams
and Johan de Kleer, "Qualitative Reasoning
about Physical Systems: A Return to Roots," Artificial Intelligence. 51:1-10,
1991. [Paper PDF]
Diagnosis
- Martin Sachenbacher
and Brian C. Williams, "Diagnosis as Semiring-based
Constraint Optimization," Best Paper Award, Proceeedings of the 16th European Conference
on Artificial Intelligence (ECAI'04),
Valencia, Spain, 2004, pp. 873-877. [ECAI
Paper PDF] [ Slides]
- also in Proceedings
of the 15th International Workshop on
Principles of Diagnosis (DX'04),
Carcassonne, France, 2004. [ Paper PDF] [ Slides]
- Seung Chung, John
Van Eepoel, and Brian C. Williams, "Improving
Model-based Mode Estimation through Offline
Compilation," Proceedings of the
Sixth International Symposium on Artificial
Intelligence, Robotics and Automation in Space:
A New Space Odyssey, Montreal, Canada,
June 2001. [Abstract
PDF (41k)] [Paper
PDF (151k)] [Slides]
- Johan de Kleer and
Brian C. Williams, "Focusing the Diagnosis
Engine," Working Papers of the 1st International
Workshop on Principles of Diagnosis,
Stanford, CA, 1990.
- Johan de Kleer and
Brian C. Williams, "Diagnosing Multiple Faults," Artificial Intelligence, 32:100-117,
1987 [Paper
(2.3M)];
- also in Readings
in Non-Monotonic Reasoning, Ginsberg
ed., Morgan Kaufman, 372-388, 1987
- and in Readings
in Model-based Diagnosis, Hamscher
et al. ed., Morgan Kaufman, 100-117, 1992.
- Johan de Kleer and
Brian C. Williams, "Diagnosis with Behavioral
Modes," In Proceedings of the International
Joint Conference on Artificial Intelligence,
Detroit, MI, 1989, pp. 1324-1330;
[Paper
PDF]
- also in Readings
in Model-based Diagnosis, Hamscher
et al. eds., Morgan Kaufman, 1992, pp.
124-130.
- Johan de Kleer and
Brian C. Williams, "Reasoning about Multiple
Faults," Proceedings of the National
Conference on Artificial Intelligence,
Philadelphia, PA, pp. 132-139, 1986. [Paper
PDF]
Invention
and Design
- Jonathan Cagan and
Brian C. Williams, "A First Order Necessary
Condition for Robust Optimality," Proceedings
of the ASME Conference on Advances in Design
Automation, Albuquerque, NM, 1993, pp.
539-549. [Paper
PDF]
- also in Recent
Advances in Qualitative Physics,
Faltings and Struss eds., MIT Press, Cambridge,
MA, pp. 413-434, 1992.
- also in Lecture
Notes in AI 462: International Workshop
on Expert Systems in Engineering Principles
and Applications, Springer-Verlag,
pp. 119-134, 1990.
- Brian C. Williams,
"Interaction-based Invention: When Decomposability
Becomes the Exceptional Case," Working
Papers of the 3rd Workshop on Research Directions
for Artificial Intelligence in Design,
Los Angeles, CA, pp. 71-75, 1992.
- Brian C. Williams,
"Interaction-based Invention: Designing Novel
Devices From First Principles," Proceedings
of the National Conference on Artificial Intelligence,
Boston, MA, pp. 349-356, 1990. [Paper
PDF] [Draft
PDF];
- also in Recent
Advances in Qualitative Physics,
Faltings and Struss, eds., MIT Press,
Cambridge, MA, pp. 413-34, 1992.
- also in Lecture
Notes in AI 462: International Workshop
on Expert Systems in Engineering Principles
and Applications, Springer-Verlag. [Slides]
- Brian C. Williams,
"Invention from First Principles: An Overview," Preprints of Modeling Creativity and Knowledge-based
Creative Design, International Round-Table
Conference, Heron Island, Queensland, 1989;
- also in Artificial
Intelligence at MIT: Expanding Frontiers,
vol. 1, Winston and Shellard eds., MIT
Press, Cambridge, MA, pp. 430- 463, 1990. [Paper
PDF]
Automated
Modeling
- Brian C. Williams
and Bill Millar, "Decompositional, Model-based
Learning and its Analogy to Model-based Diagnosis," Proceedings of the National Conference
on Artificial Intelligence, Milwaukee,
Wisconsin, 1998, pp. 197-203. [Paper
PDF (176k)]
[Slides]
- also as "Automated
Decomposition of Model-based Learning
Problems," Proceedings of the International
Workshop on Qualitative Reasoning about
Physical Systems, 1996, pp. 265-273. [View
abstract] [Paper
(186k)]
- summarized in
"Overview of Decompositional, Model-based
Learning," Proceedings of the AAAI
Spring Symposium on Computational Issues
in Learning Models of Dynamical Systems,
1996. [View
abstract] [Paper
(186k)]
- Brian C. Williams
and Olivier Raiman, "Decompositional Modeling
through Caricatural Reasoning," Proceedings
of the National Conference on Artificial Intelligence,
1994, pp. 1199-1204. [View
abstract] [Paper
(134k)]
- Brian C. Williams
and Jonathan Cagan, "Activity Analysis: The
Qualitative Analysis of Stationary Points
for Optimal Reasoning," Proceedings of
the National Conference on Artificial Intelligence,
1994. [View
abstract] [Paper
PS] [Paper
PDF]
- also as "Activity
Analysis: Simplifying Optimal Design Problems
Through Qualitative Partitioning," Proceedings of the ASME Conference
on Design Theory and Methodology,
Boston, MA, 1995.
- also as "Using
Activity Analysis to Identify Relevant
Constraints in Optimal Reasoning Problems," Proceedings of the Symposium on Abstraction,
Reformulation and Approximation,
1995. [View
abstract] [Paper
PDF (225k)]
- Brian C. Williams,
"Critical Abstraction: Generating Simplest
Models for Causal Explanation," Working
Papers of the Fifth International Workshop
on Qualitative Reasoning about Physical Systems,
Austin, TX, pp. 77-92, 1991. [Paper
PDF] [Slides]
Qualitative
Algebraic Analysis
- Brian C. Williams,
"A Theory of Interactions: Unifying Qualitative
and Quantitative Algebraic Reasoning," Artificial
Intelligence, 51:39-94, 1991. [Paper
PDF]
- Brian C. Williams,
"MINIMA: A Symbolic Approach to Qualitative
Algebraic Reasoning, " Best Paper Award. Proceedings of the National Conference
on Artificial Intelligence, Saint Paul,
MN, 1988, 264-270; [Paper
PDF]
[Slides]
- also in Readings
in Qualitative Reasoning about Physical
Systems, Weld and de Kleer eds.,
Morgan Kaufman, pp. 312-317, 1990.
Simulating
Qualitative Processes over Time
- Brian C. Williams,
"Doing Time: Putting Qualitative Reasoning
on Firmer Ground," Proceedings of the
National Conference on Artificial Intelligence,
Philadelphia, PA, pp. 105-113, 1986. [Paper
PDF]
[Slides]
- also in Readings
in Qualitative Reasoning about Physical
Systems, Weld and de Kleer eds.,
Morgan Kaufman, pp. 353-360, 1990.
- Brian C. Williams,
"The Qualitative Analysis of MOS Circuits," Artificial Intelligence, 24:281-346,
1985. [Paper
PDF]
- also in Qualitative
Reasoning about Physical Systems, Bobrow,
ed., MIT Press and North-Holland, pp.
281-346, 1984.
- also as "Temporal
Qualitative Analysis: Explaining How Physical
Systems Work," in Readings in Qualitative
Reasoning about Physical Systems, Weld
and de Kleer, eds., Morgan Kaufman, pp.
133-177, 1990.
- also in Artificial
Intelligence in Engineering Design, vol.
2, Tong and Sriram, eds., Academic Press,
pp. 335-422, 1992.
- Brian C. Williams,
"The Use of Continuity in Qualitative Physics," Proceedings of the National Conference
on Artificial Intelligence, Austin, TX,
pp. 350-354, 1984. [Paper
PDF]
- Brian C. Williams,"Beyond
Qualitative Reasoning," Working Papers of
the 1st AAAI Workshop on Qualitative Physics,
Urbana, IL, 1987. [Paper
PDF]
Applications
of Model-based Programming, Execution and Autonomous
Systems
- Morris, R., T. Estlin, L. Pedersen and B.
C. Williams, “Demonstrating Robotic
Autonomy in NASA’s Intelligent Systems
Project,” in Proceedings of the 8th
ESA Workshop on Advanced Space Technologies
for Robotics and Automation (ASTRA 2004), Noordwijk, The Netherlands, Nov 2, 2004. [Paper
PDF]
- Paul Robertson, Robert
Effinger, and Brian C. Williams,"Autonomous
Robust Execution of Complex Robotic Missions," Proceedings of the 9th International Conference
on Intelligent Autonomous Systems (IAS-9),
Tokyo, Japan, March 2006, pp. 595-604. [Paper
PDF] [Slides]
- Paul Robertson and
Brian C. Williams, "A Model-Based System Supporting
Automatic Self-Regeneration of Critical Software," Proceedings of the IFIP/IEEE International
Workshop on Self-Managed Systems & Services
(SELFMan 2005), Nice, France, 2005. [Paper
PDF] [Slides]
- Robert Effinger, Andreas
Hofmann, and Brian C. Williams, "Progress
Towards Task-Level Collaboration between Astronauts
and Their Robotic Assistants," Proceedings
of the 8th International Symposium on Artificial
Intelligence, Robotics, and Automation in
Space (iSAIRAS-05), Munich, Germany, September
2005, Session 7C. [Paper
PDF] [Slides]
- Lorraine Fesq, Mitch
Ingham, Mike Pekala, John Van Eepoel, David
Watson, and Brian C. Williams, "Model-Based
Autonomy for the Next Generation of Robotic
Spacecraft," Proceedings of the 53rd International
Astronautical Congress, Houston, TX, October
2002, pp. 212-237. Paper # IAC-02-U.5.04. [Paper
PDF] [Slides]
- Brian C. Williams,
Phil Kim, Michael Hofbaur, Jon How, Jon Kennell,
Jason Loy, Robert Ragno, John Stedl and Aisha
Walcott, “Model-based Reactive Programming
of Cooperative Vehicles for Mars Exploration.” Int. Symp. on Artificial Intelligence, Robotics
and Automation in Space, St-Hubert, Canada,
June 2001. [Abstract
PDF (60k)] [Paper
PDF (340k)]
- Steve Chien, Robert
Sherwood, M. Burl, Russell Knight, Greg Rabideau,
Barbara Engelhardt, A. Davies, Paul Zetocha,
R. Wainright, P. Klupar, Pat Cappelaere, D.
Surka, Brian C. Williams, Ron Greeley, V.
Baker and J. Doan, “The Techsat-21 Autonomous
Sciencecraft Constellation,” Int. Symp.
on Artificial Intelligence, Robotics and Automation
in Space, St-Hubert, Canada, June 2001. [Paper
PDF]
- Mitch Ingham, Robert
Ragno and Brian C. Williams, "A Reactive
Model-based Programming Language for Robotic
Space Explorers," Proceedings of the
Sixth International Symposium on Artificial
Intelligence, Robotics and Automation in Space:
A New Space Odyssey, Montreal, Canada, June
2001. [Paper
PDF (160k)] [Slides]
- Mitch Ingham, Brian
C. Williams, Thomas Lockhart, A. Oyake, Mica
Clarke, and Abdullah Aljabri, "Autonomous
Sequencing and Model-based Fault Protection
for Space Interferometry," International Symposium
on Artificial Intelligence, Robotics and Automation
in Space, Montreal, Canada, June 2001. [Abstract
PDF (56k)] [Paper
PDF (170k)] [Slides]
- Jeff Bradshaw, Yuri
Gawdiak, Hans Thomas and Brian C. Williams,
"R2D2 in a Softball: The Portable Satellite
Assistant," International Conference on Intelligent
User Interfaces, 2000, pp. 125-128. [Paper
PDF]
- James Kurien, Pandu
Nayak, Brian C. Williams, "Model-based
Autonomy for Robust Mars Operations, " Proceedings
of the First International Conference of the
Mars Society , August 1998,pp. 421-428.[View
abstract] [Paper
PS (562k)] [Paper
PDF (221k)]
Theses
Thrust
1: Model-based Programming of Discrete, Stochastic
Systems.
- Cristina M. Wilcox, "Runtime Verification for Stochastic Systems," S.M. Thesis, Massachusetts Institute of Technology, June 2010. [Thesis PDF]
- Seung Chung, "Model-based Planning through Constraint and Causal Order Decomposition," Ph.D. Thesis, Massachusetts Institute of Technology, August 2008. [Thesis
PDF]
- Paul Elliott, "Extracting the K Best Solutions from a Valued And-Or Acyclic Graph," M. Eng. Thesis, Massachusetts Institute of Technology, May 2007. [Thesis
PDF]
- Oliver Martin, "Accurate
Belief State Update for Probabilistic Constraint
Automata," S. M. Thesis, Massachusetts Institute
of Technology, June 2005. [Thesis
PDF]
- Tazeen Mahtab,"Automated
Verification of Model-based Programs Under
Uncertainty," M. Eng. Thesis, Massachusetts
Institute of Technology, May 2004. [Thesis
PDF]
- Seung Chung,"A Decomposed
Symbolic Approach to Reactive Planning," S.M.
Thesis, Massachusetts Institute of Technology,
June 2003. [Thesis
PDF]
- Mitch Ingham,"Timed
Model-based Programming: Executable Specifications
for Robust Mission-Critical Sequences," Doctoral
Thesis, Massachusetts Institute of Technology,
May 2003. [Thesis
PDF]
- John Van Eepoel, "Achieving
Real-time Mode Estimation through Offline
Compilation," S.M. Thesis, Massachusetts Institute
of Technology, February 2002. [Thesis
PDF]
Thrust
2: Model-based Programming to Coordinate
Multiple Agents
- Steve Block, "Distributed
Method Selection and Dispatching of Contingent,
Temporally Flexible Plans," S. M. Thesis,
Massachusetts Institute of Technology, February 2007. [Thesis
PDF]
- Robert Effinger, "Optimal
Temporal Planning at Reactive Time Scales
via Dynamic Backtracking Branch and Bound,"
S.M. Thesis, Massachusetts Institute of Technology,
September 2006. [Thesis
PDF]
- Tsoline Mikaelian,
"Model-based Monitoring and Diagnosis of Systems
with Behavior," S. M. Thesis,
Massachusetts Institute of Technology, June
2005. [Thesis
PDF]
- Brad Hasegawa, "Continuous
Observation Planning for Autonomous Exploration, "
M. Eng. Thesis, Massachusetts Institute of
Technology, August 2004. [Thesis
PDF]
- John Stedl, "Managing
Temporal Uncertainty Under Limited Communication:
A Formal Model of Tight and Loose Team Communication, "
S.M. Thesis, Massachusetts Institute of Technology,
September 2004. [Thesis
PDF]
- Aisha Walcott, "Unifying
Model-Based Programming and Path Planning
Through Optimal Search," S.M. Thesis, Massachusetts
Institute of Technology, May 2004. [Thesis
PDF]
- Judy Chen, "Distributed
Coordination of Autonomous Agents by Communicating
on a Need-To-Know Basis, " M. Eng. Thesis,
Massachusetts Institute of Technology, October,
2003. [Thesis
PDF]
- Jon Kennell, "Generative
Temporal Planning with Complex Processes, "
M. Eng. Thesis, Massachusetts Institute of
Technology, October 2003. [Thesis
PDF]
- Andreas Wehowsky, "Safe Distributed Coordination of Heterogeneous
Robots Through Dynamic Simple Temporal Networks, "
S.M. Thesis, Massachusetts Institute of Technology,
May 2003. [Thesis
PDF]
- Phil Kim, "Model-based
Planning for Coordinated Air Vehicle Missions, "
M. Eng. Thesis, Massachusetts Institute of
Technology, August 2000. [Thesis
PDF]
Thrust
3: Model-based Programming of Dynamic Systems
- Stephanie Gil, "Robust Learning of Probabilistic Hybrid Models," MS Thesis, Massachusetts Institute of Technology, August 2008. [Thesis
PDF]
- Andreas Hofmann, "Robust
Execution of Bipedal Walking Tasks from Biomechanical
Principles" Ph.D. Thesis, Massachusetts Institute
of Technology, January 2006. [Thesis
PDF]
- Thomas Léauté, "Coordinating
Agile Systems through the Model-based Execution
of Temporal Plans, " S. M. Thesis, Massachusetts
Institute of Technology, August 2005. [Thesis
PDF]
- Stano Funiak, "State
Estimation of Probabilistic Hybrid Systems
with Particle Filters, " S.M. Thesis, Massachusetts
Institute of Technology, June 2004. [Thesis
PDF]
- Michael Hofbaur, "Hybrid
Estimation and its Role in Process Automation, " Habilitation, University of Graadst, Austria,
December 2004. [Thesis
PDF]
- Melvin Henry, "Model-based
Estimation of Probabilistic Hybrid Automata, "
S.M. Thesis, Massachusetts Institute of Technology,
May 2002. [Thesis
PDF]
Optimal
Reasoning and Constraints
- Patrick Raymond Conrad, "Flexible Execution of Plans with Choice and Uncertainty," S.M. Thesis, Massachusetts Institute of Technology, September 2010. [Thesis PDF]
- Paul J Steiner, "Designing PCR-based gene synthesis reactions using constraint optimization," M. Eng. Thesis, Massachusetts Institute of Technology, August 2009. [Thesis
PDF]
- Shuonan Dong, "Unsupervised Learning and Recognition of
Physical Activity Plans" M. Eng. Thesis, Massachusetts Institute of Technology, September 2007. [Thesis
PDF]
- Shen Qu,
"Fast Incremental Unit Propagation by
Unifying Watched-literals and Local Repair,"
S.M. Thesis, Massachusetts Institute of Technology,
September 2006. [Thesis
PDF]
- Hui. Li, "Generalized
Conflict Learning for Hybrid Discrete/Linear
Optimization," S.M. Thesis, Massachusetts
Institute of Technology, May 2005. [Thesis
PDF]
- Raj Krishnan, "Solving
Hybrid Decision-Control Problems Through Conflict-Directed
Branch and Bound," M. Eng. Thesis, Massachusetts
Institute of Technology, February 2004. [Thesis
PDF]
- Paul Elliott, "An
Efficient Projected Minimal Conflict Generator
for Projected Prime Implicate and Implicant
Generation," S.M. Thesis, Massachusetts Institute
of Technology, February 2004. [Thesis
PDF]
- I-hsiang. Shu, "Enabling
Fast Flexible Planning through Incremental
Temporal Reasoning, " M. Eng. Thesis, Massachusetts
Institute of Technology, September 2003. [Thesis
PDF]
- Robert Ragno, "Solving
Optimal Satisfiability Problems Through Clause-Directed
A*," M. Eng. Thesis, Massachusetts Institute
of Technology, May 2002. [Thesis
PDF]
Applications
of Model-based Programming, Execution and
Autonomous Systems
- Paul Harrison Elliott, "Lifelong Verification of Model-Based Programs," Ph.D. Thesis, Massachusetts Institute of Technology, August 2008. [Thesis PDF]
- Josh McConnell, "Technical
and Policy Issues Surrounding the Use of Autonomous
Manueverable Earth Observing Satellites,"
S.M. Thesis, Massachusetts Institute of Technology,
June 2003. [Thesis
PDF]
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