Books :

• Johan de Kleer and Brian C. Williams, "Special Volume on Qualitative Reasoning about Physical Systems II," Artificial Intelligence
  

Refereed Journal and Magazine Articles :

• "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]
• "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]
• Paul Robertson and Brian C. Williams, "Automatic Recovery from Software Failure: A Model-based Approach to Self-Adaptive Software," Communications of the ACM, March 2006, volume 49, no. 3, pp. 41-47. [Paper PDF]
• Michael Hofbaur and Brian C. Williams, "Hybrid Estimation of Complex Systems, "IEEE Transactions on Systems, Man, and Cybernetics - Part B: Cybernetics, 2004. Special Issue on Diagnosis in Complex Systems: Bridging the methodologies of the FDI and DX Communities, 2004, pp. 2178-2191. [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, 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, 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]
• 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)]
• 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]
• 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]
• 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 et al., "Narrow Views, Old Tasks and New Beginnings," Computational Intelligence, 8:210-215, 1992. [Paper PDF]
• Brian C. Williams, "A Theory of Interactions: Unifying Qualitative and Quantitative Algebraic Reasoning," Artificial Intelligence, 51:39-94, 1991. [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]
• 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.
• 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.
    

Refereed Conference Articles :

• 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]
• Patrick R. Conrad, Julie Shah and Brian C. Williams, "Flexible Execution of Plans with Choice," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 09), Thessaloniki, Greece, September 2009. [Paper PDF]
• Robert Effinger, Brian Williams, Gerard Kelly, Michael Sheehy, "Dynamic Controllability of Temporally-flexible Reactive Programs" Proceddings of the 19th International Conference on Automated Planning and Scheduling (ICAPS 09), September 2009. [Paper PDF]
• Julie Shah, Patrick Conrad, and Brian C. Williams, "Fast Distributed Multi-agent Plan Execution with Dynamic Task Assignment and Scheduling," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 09), Thessaloniki, Greece, September 2009. [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]
• Steve Block, Andreas F. Wehowsky, and Brian C. Williams, "Robust Execution of Contingent, Temporally Flexible Plans," Proceedings of the 21st National Conference on Artificial Intelligence, Boston, MA, July 2006, pp. 802-808. [Paper PDF] [Slides]
  • also as Andreas F. Wehowsky, Steve A. Block, and Brian C. Williams, "Robust Distributed Coordination of Heterogeneous Robots through Temporal Plan Networks," Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS-05), Munich, Germany, September 2005, pp. 67-72. [Paper PDF]
  • also as Andreas F. Wehowsky, Steve A. Block, and Brian C. Williams, "Robust Distributed Coordination of Heterogeneous Robots Through Temporal Plan Networks," Proceedings of the ICAPS Workshop on Multi-agent Planning and Scheduling Workshop, Monterey, CA, June 2005. [Paper PDF]
• 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]
• Paul Elliott and Brian C. Williams, "DNNF-based Belief State Estimation," in Proceedings of the 21st National Conference on Artificial Intelligence, Boston, MA, July 2006, pp. 36-41. [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, pp. 386-389. [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]
• Stephen A. Block and Brian C. Williams, "Distributed Method Selection and Dispatching of Contingent, Temporally Flexible Plans", published as "Robust Execution of Contingent, Temporally Flexible Plans", Proceedings of the ICAPS Workshop on Planning Under Uncertainty, Cumbria, UK, June 2006, pp. 25-32. [Paper PDF] [Slides]
  • also as Stephen A. Block and Brian C. Williams, "Distributed Method Selection and Dispatching of Contingent, Temporally Flexible Plans", published as "Robust Execution of Contingent, Temporally Flexible Plans", Proceedings of the AAAI Workshop on Cognitive Robotics, Boston, MA, July 2006. [Paper PDF]
• 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]
• 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]
• 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]
• Lars J. Blackmore and Brian C. Williams,"Finite Horizon Control Design for Optimal Model Discrimination," in Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, December 2005, pp. 3795-3802. [Paper PDF] [Slides]
• 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]
• Oliver Martin, Brian C. Williams, and Mitch Ingham, "Diagnosis as Approximate Belief State Enumeration for Probabilistic Concurrent Constraint Automata," Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05), Pittsburgh, PA, July 2005, pp. 321-326. [Paper PDF]
  • also in Proceedings of the 16th International Workshop on Principles of Diagnosis (DX 05), Monterey, CA, June 2005, pp. 89-94. [Paper PDF] [Slides]
• Lars J. Blackmore, Stano Funiak, and Brian C. Williams, "Combining Stochastic and Greedy Search in Hybrid Estimation," in Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05), Pittsburgh, PA, July 2005, pp. 282-287. [Paper PDF ]
• 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]
• Tsoline Mikaelian, Brian C. Williams, and Martin Sachenbacher, "Model-based Monitoring and Diagnosis of Systems with Software-Extended Behavior," Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05), Pittsburgh, PA, July 2005, pp. 327-333. [Paper PDF] [Slides]
  • also as "Diagnosing Complex Systems with Software-Extended Behavior using Constraint Optimization," Proceedings of the 16th International Workshop on Principles of Diagnosis (DX-05), Monterey, CA, June 2005, pp. 19-24. [Paper PDF] [Slides]
  • also as "Probabilistic Monitoring from Mixed Software and Hardware Specifications," Proceedings of the ICAPS Workshop on Verification and Validation of Model-based Planning and Scheduling Systems, Monterey, CA, June 2005, pp. 95-100. [Paper PDF] [Slides]
  • also as "Autonomous Diagnosis Based on Software-Extended Behavior Models," Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS-05), Munich, Germany, September 2005. [Paper PDF] [Slides]
• 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]
• I-hsiang Shu, Robert Effinger, and Brian C. Williams, "Enabling Fast Flexible Planning Through Incremental Temporal Reasoning with Conflict Extraction," Proceedings of the 15th International Conference on Automated Planning and Scheduling (ICAPS 05), Monterey, CA, June 2005, pp. 252-261. [Paper PDF] [Slides]
• 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]
• Tazeen Mahtab, Greg Sullivan, and Brian C. Williams, "Automated Verification of Model-based Programs Under Uncertainty," Proceedings of the 4th International Conference on Intelligent Systems Design and Application, August 2004. [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, "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]
• Stano Funiak and Brian C. Williams, "Multi-modal Particle Filter for Hybrid Systems with Autonomous Mode Transitions," Proceedings of SafeProcess, 2003; [Paper PDF] [Slides]
  • also in Proceedings of the 14th International Workshop on Principles of Diagnosis (DX03), Washington, DC, 2003, pp. 59-64. [Paper PDF] [Slides]
• Brian C. Williams and Mitch Ingham, "Model-Based Programming: Controlling Embedded Systems by Reasoning About Hidden State," 8th International Conference on Principles and Practice of Constraint Programming (CP-02) , Ithaca, NY, September 2002, pp. 508-524. [Paper PDF] [Slides]
• Michael Hofbaur and Brian C. Williams, "Mode Estimation of Probabilistic Hybrid Systems," in International Conference on Hybrid Systems, Computation and Control, 2002 (C.J. Tomlin and M.R. Greenstreet, Eds.) Vol. 2289 of Lect. Notes in Computer Science. pp. 253-266. Springer Verlag. [Paper PDF ] [Slides]
• Phil Kim, Brian C. Williams, and Mark Abramson,"Executing Reactive, Model-based Programs through Graph-based Temporal Planning," Proceedings of the International Joint Conference on Artificial Intelligence, Seattle, WA, 2001, pp. 487-493. [View abstract] [Paper PDF (321k)] [Paper PS (5,509k)] [Slides]
• Brian C. Williams, Seung Chung, Vineet Gupta, "Mode Estimation of Model-based Programs: Monitoring Systems with Complex Behavior, " Proceedings of the International Joint Conference on Artificial Intelligence, Seattle, WA, 2001, pp. 579-585. [View abstract] [Paper PDF (134k)] [Paper PS (283k)]
• 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)]
• Barney Pell, Ed Gamble, Erann Gat, Ron Keesing, James Kurien, Bill Millar, P. Pandurang Nayak, Christian Plaunt, and Brian Williams, "A Hybrid Procedural/Deductive Executive For Autonomous Spacecraft, " in Proceedings of the Second International Conference on Autonomous Agents, Minneapolis, MI, 1998, pp. 369-376. [View abstract] [Paper (167k)]
• Brian C. Williams and P. Pandurang Nayak, "A Reactive Planner for a Model-based Executive," in Proceedings of the International Joint Conference on Artificial Intelligence, 1997, pp. 1178-85. [View abstract] [Paper (194k)]
• 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)]
• 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)]
• 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]
• Brian C. Williams and P. Pandurang Nayak, "A Model-based Approach to Reactive Self-Configuring Systems," in Proceedings of the National Conference on Artificial Intelligence, 1996, pp. 971-978.
• 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)]
• 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)]
• 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: 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]
• 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.
• 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.
• 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]
• 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]
• 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 Use of Continuity in Qualitative Physics," Proceedings of the National Conference on Artificial Intelligence, Austin, TX, pp. 350-354, 1984. [Paper PDF]

Additional Refereed Workshop and Symposia:

• 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]
• 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]
• Oliver Martin, Seung Chung, and Brian C. Williams, "A Tractable Approach to Probabilistically Accurate Mode Estimation," Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS-05), Munich, Germany, September 2005, Session 9C. [Paper PDF] [Slides]
• John Stedl and Brian C. Williams, "A Fast Incremental Dynamic Controllability Algorithm," Proceedings of the ICAPS Workshop on Plan Execution, Monterey, CA, June 2005, pp. 69-75. [Paper PDF]
• John Stedl and Brian C. Williams, "Managing Communication Limitations in Partially Controllable Multi-agent Plans," Proceedings of the ICAPS Workshop on Multi-agent Planning and Scheduling Workshop, Monterey, CA, June 2005, pp. 8-14. [Paper PDF]
• 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]
• 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]
• Seung Chung and Brian C. Williams, "A Decomposed Symbolic Approach to Reactive Planning," Proceedings of the Third International Workshop on Self-Adaptive Software, Washington D.C., 2003. [Paper PDF] [Slides]
  • also in Proceedings of the 14th International Workshop on Principles of Diagnosis (DX03), Washington, DC, 2003, pp. 147-152.
  • also in Proceedings of the ICAPS Workshop on Verification and Validation of Model-based Planning and Scheduling Systems, Monterey, CA, 2005.
• Mitch Ingham and Brian C. Williams, "Timed Model-based Programming: Executable Specifications for Robust Mission-Critical Sequences," Proceedings of the Third International Workshop on Self-Adaptive Software, Washington D.C., 2003. [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]
• Michael Hofbaur and Brian C. Williams, "Hybrid Diagnosis with Unknown Behavioral Modes, " Proceedings of the 13th International Workshop on Principles of Diagnosis (DX02), 2002, pp. 97-105. [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]
• 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]
• 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]
• Brian C. Williams and Vineet Gupta,"Unifying Model-based and Reactive Programming within a Model-based Executive, " Proceedings of the International Workshop on Principles of Diagnosis (DX99) , Loch Awe, Scotland, 1999, pp. 327-334. [Paper PS (192k)][ Paper PDF (288k)]
• 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)]
• 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)]
• 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)]
• 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.
• 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.
• 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]
• 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.
• 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]
• Brian C. Williams,"Beyond Qualitative Reasoning," Working Papers of the 1st AAAI Workshop on Qualitative Physics, Urbana, IL, 1987. [Paper PDF]

Memos :

• Martin Sachenbacher and Brian C. Williams, "A* Search for Soft Constraints Bounded by Tree Decompositions," CSAIL Memo, 2006. [Paper PDF]
• Stanislav Funiak, Lars J. Blackmore and Brian C. Williams, "Gaussian Particle Filtering for Concurrent Hybrid Models with Autonomous Transitions," CSAIL Memo, 2006. [Paper PDF]
• Brian C. Williams, Michael Hofbaur and Tom Jones, "Mode Estimation of Probabilistic Hybrid Systems, " AI Memo, 2002. [Paper PDF (179)]

Recent Student Theses :

• Shuonan Dong, "Unsupervised Learning and Recognition of Physical Activity Plans" M. Eng. Thesis, Massachusetts Institute of Technology, September 2007. [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]
• 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]
• Shen Qu, "Fast Incremental Unit Propagation by Unifying Watched-literals and Local Repair", S.M. Thesis, Massachusetts Institute of Technology, September 2006. [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]
• Oliver Martin, "Accurate Belief State Update for Probabilistic Constraint Automata." S. M. Thesis, Massachusetts Institute of Technology, June 2005. [Thesis PDF]
• Tsoline Mikaelian, "Model-based Monitoring and Diagnosis of Systems with Software-Extended Behavior." S. M. Thesis, Massachusetts Institute of Technology, June 2005. [Thesis PDF]
• Hui. Li, "Generalized Conflict Learning for Hybrid Discrete/Linear Optimization." S.M. Thesis, Massachusetts Institute of Technology, May 2005. [Thesis PDF]
• Michael Hofbaur, "Hybrid Estimation and its Role in Process Automation. " Habilitation, University of Graadst, Austria, December 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]
• Brad Hasegawa. "Continuous Observation Planning for Autonomous Exploration." M. Eng. Thesis, Massachusetts Institute of Technology, August 2004. [Thesis PDF]
• Stanislav Funiak. "State Estimation of Probabilistic Hybrid Systems with Particle Filters." S.M. Thesis, Massachusetts Institute of Technology, June 2004. [Thesis PDF]
• Tazeen Mahtab. "Automated Verification of Model-based Programs Under Uncertainty." M. Eng. Thesis, Massachusetts Institute of Technology, May 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]
• 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]
• Raj Krishnan."Solving Hybrid Decision-Control Problems Through Conflict-Directed Branch and Bound." M. Eng. Thesis, Massachusetts Institute of Technology, February 2004. [Thesis PDF]
• Jon Kennell. "Generative Temporal Planning with Complex Processes." M. Eng. Thesis, Massachusetts Institute of Technology, October 2003. [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]
• I-hsiang. Shu. "Enabling Fast Flexible Planning through Incremental Temporal Reasoning." M. Eng. Thesis, Massachusetts Institute of Technology, September 2003. [Thesis PDF]
• Seung Chung. "A Decomposed Symbolic Approach to Reactive Planning." S.M. Thesis, Massachusetts Institute of Technology, June 2003. [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]
• Mitch Ingham. "Timed Model-based Programming: Executable Specifications for Robust Mission-Critical Sequences." Doctoral Thesis, Massachusetts Institute of Technology, May 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]
• Melvin Henry. "Model-based Estimation of Probabilistic Hybrid Automata." S.M. Thesis, Massachusetts Institute of Technology, May 2002. [Thesis PDF]
• Robert Ragno. "Solving Optimal Satisfiability Problems Through Clause-Directed A*." M. Eng. Thesis, Massachusetts Institute of Technology, May 2002. [Thesis PDF]
• John Van Eepoel. "Achieving Real-time Mode Estimation through Offline Compilation." S.M. Thesis, Massachusetts Institute of Technology, February 2002. [Thesis PDF]
• Phil Kim. "Model-based Planning for Coordinated Air Vehicle Missions." M. Eng. Thesis, Massachusetts Institute of Technology, August 2000. [Thesis PDF]