Publications

This page contains a list of my publications and slides from selected paper talks, available for download as PDF files. This page is currently under construction and is incomplete. Expect broken links as I move content over from my old website. You can also check my publications on various external research sites.

2024

A. Lindsay, A. Ramírez-Duque, B. Craenen, A. Munafò, L. Boé, A. Campbell, and R. Petrick. (2024). Supporting Explainable Planning and Human-Aware Mission Specification for Underwater Robots. Towards Autonomous Robotic Systems Conference (TAROS), Lecture Notes in Computer Science, volume 15051, pages 28-40, doi:10.1007/978-3-031-72059-8_3.
L. James, E. De Pellegrin, L. Genga, B. Montagne, P. Van Gorp, and R. Petrick. (2024). Towards Automated Planning of Level Structures for Digital Interventions. Italian Workshop on Planning and Scheduling (IPS), CEUR Workshop Proceedings, volume 3883. pdf
E. De Pellegrin and R. Petrick. (2024). Planning Domain Simulation: An Interactive System for Plan Visualisation. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), pages 133-141, doi:10.1609/icaps.v34i1.31469.
E. De Pellegrin and R. Petrick. (2004). Simulating Robotics Planning Domains with PDSim and ROS. ICAPS 2024 System Demonstration Session.
A. Lindsay, A. Ramirez-Duque, M.E. Foster, and R. Petrick. (2024). Maintaining, Monitoring, and Managing User Engagement in Social Robotics for Short-Term Interactions. Proceedings of the ICAPS 2024 Workshop on Human-Aware and Explainable Planning (HAXP).
A. Lindsay, A. Ramirez-Duque, B. Craenen, A. Munafo, L. Boe, A. Campbell, and R. Petrick. (2024). Supporting Human-Aware Mission Specification and Explainable Planning for Underwater Vehicles. Proceedings of the ICAPS 2024 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
A. Lindsay and R. Petrick. (2024). Action Inheritance Within the Unified Planning Framework. Proceedings of the ICAPS 2024 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
M.E. Foster, S. Ashkenazi, A. Blair, A. Ramirez-Duque, S. Ali, P. Candelaria, S. Hudson, J. Stinson, L. Harris, S. Litwin, F. Nishat, R. Petrick, A. Lindsay, D. Smith, and F. Zeller. (2024). Including Front-Line Workers as Primary Stakeholders in Public-Space HRI. Proceedings of the HRI 2024 International Workshop on Worker-Robot Relations.
A. Lindsay, A. Ramirez-Duque, M.E. Foster, and R. Petrick. (2024). A Socially Assistive Robot using Automated Planning in a Paediatric Clinical Setting. Proceedings of the International Symposium on Technological Advances in Human-Robot Interaction (TAHRI), pages 47-55, doi:10.1145/3648536.3648542.
A. Lindsay, A. Ramirez-Duque, M.E. Foster, and R. Petrick. (2024). Using AI Planning for Managing Affective States in Social Robotics. Proceedings of the ACM/IEEE International Conference on Human Robot Interaction (HRI), pages 679-683, doi:10.1145/3610978.3640744.
A. Ramirez-Duque, A. Lindsay, M.E. Foster, and R. Petrick. (2024). A Lightweight Artificial Cognition Model for Socio-Affective Human-Robot Interaction. ACM/IEEE International Conference on Human Robot Interaction (HRI), pages 929-933, doi:10.1145/3610977.3637469.

2023

E. De Pellegrin, R. Smith, S. MacLeod, M. Dragone, and R. Petrick. (2023). Towards Multimodal Sensing and Interaction for Assistive Autonomous Robots. Proceedings of the Towards Autonomous Robotics Systems Conference (TAROS), pages 162-173, doi:10.1007/978-3-031-43360-3_14.
E. De Pellegrin and R. Petrick. (2023). PDSim: Planning Domain Simulation and Animation with the Unity Game Engine. ICAPS 2023 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
E. De Pellegrin and R. Petrick. (2023). PDSim: Simulate Plans. ICAPS 2023 System Demonstration Session. info | pdf | poster | video | code
M.E. Foster, P. Candelaria, L. Dwyer, S. Hudson, A. Lindsay, F. Nishat, M. Pacquing, R. Petrick, A. Ramirez-Duque, J. Stinson, F. Zeller, and S. Ali. (2023). Co-design of a Social Robot for Distraction in the Paediatric Emergency Department. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages 461-465, doi:10.1145/3568294.3580127.

2022

S. Dalzel-Job, R. Hill, and R. Petrick. (2022). Start Making Sense: Identifying Behavioural Indicators When Things Go Wrong During Interaction with Artificial Agents. International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), pages 582-591, doi:10.1007/978-3-031-21203-1_36.
A. Lindsay, A. Ramirez-Duque, R. Petrick, and M.E. Foster. (2022). A Socially Assistive Robot using Automated Planning in a Paediatric Clinical Setting. AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction (AI-HRI), doi:10.48550/arXiv.2210.09753. pdf
J.H.A. Ng and R. Petrick. (2022). First-Order Dead End Situations for Policy Guidance in Relational Problems. Proceedings of the IJCAI 2022 Workshop on Generalized Planning (GenPlan). pdf
Y. Carreno, Y. Petillot, and R. Petrick. (2022). Temporal Planning with Incomplete Knowledge and Perceptual Information. Proceedings of the IJCAI 2022 Workshop on Agents and Robots for Reliable Engineered Autonomy (AREA), pages 37-53, doi:10.48550/arXiv.2207.09709. pdf
E. De Pellegrin and R. Petrick. (2022). What Plan? Virtual Plan Visualization with PDSim. ICAPS 2022 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
A. Lindsay and R. Petrick. (2022). Incremental Domain Model Acquisition with a Human in the Loop. ICAPS 2022 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
A. Lindsay and R. Petrick. (2022). Demonstrating the Impact of Modelling Decisions. ICAPS 2022 Workshop on Explainable AI Planning (XAIP). info | pdf
E. De Pellegrin and R. Petrick. (2022). Plan Visualisation with PDSim. ICAPS 2022 System Demonstration Session. pdf | poster | video
G. Smith, V. Belle, and R. Petrick. (2022). Intention Recognition in ProbLog. Frontiers in Artificial Intelligence, 5:806262, doi:10.3389/frai.2022.806262. pdf
Y. Carreno, J.H.A. Ng, Y. Petillot, and R. Petrick. (2022). Planning, Execution, and Adaptation for Multi-Robot Systems using Probabilistic and Temporal Planning. Proceedings of the International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 217-225, doi:10.5555/3535850.3535876. pdf
J.H.A. Ng and R. Petrick. (2022). Generalised Task Planning with First-Order Function Approximation. Proceedings of the Conference on Robot Learning (CoRL 2021), Proceedings of Machine Learning Research (PMLR), 164, pages 1595-1610. info | pdf

2021

A. Lindsay and R. Petrick. (2021). Explaining Plan Selection Through an Analysis of Object Transition Sequences. UK Planning and Scheduling Special Interest Group (UK PlanSIG). pdf
A. Lindsay, L. McCluskey, and R. Petrick. (2021). Plan2Know: Constructing Plans for Guiding Data Collection. UK Planning and Scheduling Special Interest Group (UK PlanSIG). pdf
E. De Pellegrin and R. Petrick. (2021). Plan Simulation with PDSim. Italian Workshop on Planning and Scheduling (IPS). pdf
P. Ardón, È. Pairet, K.S. Lohan, S. Ramamoorthy, and R. Petrick. (2021). Building Affordance Relations for Robotic Agents - A Review. Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), Survey Track, pages 4302-4311, doi:10.24963/ijcai.2021/590. pdf
J.H.A. Ng and R. Petrick. (2021). Generalised Linear Function Approximation with First-Order Features. IJCAI 2021 Workshop on Generalized Planning (GenPlan). pdf
Y. Carreno, J.S. Willners, Y. Petillot, and R. Petrick. (2021). Situation-Aware Task Planning for Robust AUV Explorations in Extreme Environments. IJCAI 2021 Workshop on Robust and Reliable Autonomy in the Wild (R2AW). pdf
A. Hill, E. Komendantskaya, M.L. Daggitt, and R. Petrick. (2021). Actions You Can Handle: Dependent Types for AI Plans. Proceedings of the ACM SIGPLAN International Workshop on Type-Driven Development (TyDe), pages 1-13, doi:10.1145/3471875.3472990.
E. De Pellegrin and R. Petrick. (2021). PDSim: Simulating Classical Planning Domains with the Unity Game Engine. ICAPS 2021 System Demonstration Session. pdf | video
Y. Carreno, A. Lindsay, and R. Petrick. (2021). Explaining Temporal Plans with Incomplete Knowledge and Sensing Information. ICAPS 2021 Workshop on Explainable AI Planning (XAIP). info | pdf
A. Lindsay and R. Petrick. (2021). Supporting Explanations Within an Instruction Giving Framework. ICAPS 2021 Workshop on Explainable AI Planning (XAIP). info | pdf
Y. Carreno, P. Le Bras, È Pairet Artau, P. Ardón Ramírez, M. Chantler, and R. Petrick. (2021). An Integrated Framework for Remote Planning. ICAPS 2021 Workshop on Integrated Planning, Acting, and Execution (IntEx), pages 1-9. pdf
J.H.A. Ng and R. Petrick. (2021). First-Order Function Approximation for Transfer Learning in Relational MDPs. ICAPS 2021 Workshop on Bridging the Gap Between AI Planning and Reinforcement Learning (PRL). pdf | poster
Y. Carreno, Y. Petillot, and R. Petrick. (2021). Compiling Contingent Planning into Temporal Planning for Robust AUV Deployments. ICAPS 2021 Workshop on Planning and Robotics (PlanRob). pdf
J.H.A. Ng, Y. Carreno, Y. Petillot, and R. Petrick. (2021). Combining Temporal and Probabilistic Planning for Robots Operating in Extreme Environments. ICAPS 2021 Workshop on Planning and Robotics (PlanRob). pdf
E. De Pellegrin and R. Petrick. (2021). Automated Planning and Robotics Simulation with PDSim. ICAPS 2021 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
K. Gavrillidis, Y. Carreno, A. Munafo, W. Pang, R. Petrick, and H. Hastie. (2021). Plan Verbalisation for Robots Acting in Dynamic Environments. ICAPS 2021 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
A. Lindsay, B. Craenen, and R. Petrick. (2021). Within Task Preference Elicitation in Net Benefit Planning. ICAPS 2021 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS). pdf
G. Smith, R. Petrick, and V. Belle. (2021). Intent Recognition in Smart Homes with ProbLog. IEEE International Conference on Pervasive Computing and Communications, Workshops and other Affiliated Events (PerCom Workshops), pages 430-431, doi:10.1109/PerComWorkshops51409.2021.9431150.
P. Ardón, M.E. Cabrera, È. Pairet, R. Petrick, S. Ramamoorthy, K.S. Lohan, and M. Cakmak. (2021). Affordance-Aware Handovers with Human Arm Mobility Constraints. IEEE Robotics and Automation Letters (RA-L), 6(2):3136-3143, doi:10.1109/LRA.2021.3062808.
F. Zeller, D.H. Smith, M.E. Foster, R. Petrick, J. Stinson, and S. Ali. (2021). Ethical Frameworks for Artificial Intelligence (AI) and Social Robots in Children's Healthcare Experiences. HRI 2021 Workshop on Measuring Child-Robot Relationships, Interdisciplinary Research Methods for Child-Robot Relationship Formation. pdf

2020

J.H.A. Ng and R. Petrick. (2020). Practical Feature Selection for Online Reinforcement Learning and Planning in Relational MDPs. UK Planning and Scheduling Special Interest Group (UK PlanSIG).
A. Lindsay, B. Craenen, S. Dalzel-Job, R.L. Hill, and R. Petrick. (2020). Investigating Human Response, Behaviour, and Preference in Joint-Task Interaction. UK Planning and Scheduling Special Interest Group (UK PlanSIG).
M.E. Foster, S. Ali, S. Litwin, J. Parker, R. Petrick, D.H. Smith, J. Stinson, and F. Zeller. (2020). Using AI-Enhanced Social Robots to Improve Children's Healthcare Experiences. Proceedings of the International Conference on Social Robotics (ICSR), pages 542-553, doi:10.1007/978-3-030-62056-1_45.
M.E. Foster and R. Petrick. (2020). Towards Social HRI for Improving Children's Healthcare Experiences. AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction (AI-HRI), doi:10.48550/arXiv.2010.04652.
A. Lindsay, B. Craenen, S. Dalzel-Job, R.L. Hill, and R. Petrick. (2020). Investigating Human Response, Behaviour, and Preference in Joint-Task Interaction. ICAPS 2020 Workshop on Explainable AI Planning (XAIP), doi:10.48550/arXiv.2011.14016.
Y. Carreno, È. Pairet, Y. Petillot, and R. Petrick. (2020). Decentralised Task Allocation and Planning for Heterogeneous AUVs. ICAPS 2020 System Demonstration & Exhibits Session.
P. Le Bras, Y. Carreno, R. Petrick, and M.J. Chantler. (2020). PlanCurves: A Visualization Interface for Multi-Agent Temporal Plans. ICAPS 2020 System Demonstration & Exhibits Session.
Y. Carreno, È. Pairet, P. Ardón, Y. Petillot, and R. Petrick. (2020). Task Allocation and Planning for Offshore Mission Automation. ICAPS 2020 System Demonstration & Exhibits Session.
A. Lindsay, B. Craenen, S. Dalzel-Job, R.L. Hill, and R. Petrick. (2020). Supporting an Online Investigation of User Interaction with an XAIP Agent. ICAPS 2020 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
P. Le Bras, Y. Carreno, A. Lindsay, R. Petrick, and N.J. Chantler. (2020). PlanCurves: An Interface for End-Users to Visualise Multi-Agent Temporal Plans. ICAPS 2020 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
S. Dalzel-Job, R.L. Hill, and R. Petrick. (2020). Start Making Sense: Predicting confidence in virtual human interactions using biometric signals. Proceedings of Measuring Behavior 2020-21: 12th International Conference on Methods and Techniques in Behavioral Research and 6th Seminar on Behavioral Methods, 1:72-75.
P. Ardón, È. Pairet, Y. Petillot, R. Petrick, S. Ramamoorthy, and K.S. Lohan. (2020). Self-Assessment of Grasp Affordance Transfer. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 9385-9392.
A. Hill, E. Komendantskaya, and R. Petrick. (2020). Proof-Carrying Plans: a Resource Logic for AI Planning. Proceedings of the International Symposium on Principles and Practice of Declarative Programming (PPDP), pages 1-13, doi:10.1145/3414080.3414094.
Y. Carreno, Y. Petillot, and R. Petrick. (2020). Towards Robust Mission Execution via Temporal and Contingent Planning. Proceedings of the 21st Towards Autonomous Robotics Systems Conference (TAROS), pages 214-217, doi:10.1007/978-3-030-63486-5_24.
Y. Carreno, È. Pairet, Y. Petillot, and R. Petrick. (2020). A Decentralised Strategy for Heterogeneous AUV Missions via Goal Distribution and Temporal Planning. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), pages 431-439, doi:10.1609/icaps.v30i1.6738.
Y. Carreno, È. Pairet, Y. Petillot, and R. Petrick. (2020). Task Allocation Strategy for Heterogeneous Robot Teams in Offshore Missions. Proceedings of the International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 222-230, doi:10.5555/3398761.3398792.
R. Petrick and M.E. Foster. (2020). Knowledge Engineering and Planning for Social Human-Robot Interaction: A Case Study. In M. Vallati and D. Kitchin (eds.), Knowledge Engineering Tools and Techniques for AI Planning, pages 261-277, Springer, doi:10.1007/978-3-030-38561-3_14.

2019

V. Krueger, F. Rovida, B. Grossmann, R. Petrick, M. Crosby, A. Charzoule, G. Garcia, S. Behnke, C. Toscano, and G. Veiga. (2019). Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing. Robotics and Computer-Integrated Manufacturing, 57:213-229, doi:10.1016/j.rcim.2018.11.011.
J.H.A. Ng and R. Petrick. (2019). Incremental Learning of Planning Actions in Model-Based Reinforcement Learning. Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), pages 3195-3201, doi:10.24963/ijcai.2019/443.
Y. Carreno, R. Petrick, and Y. Petillot. (2019). Multi-Vehicle Temporal Planning for Underwater Applications. ICAPS 2019 Workshop on Planning and Robotics (PlanRob).
J.H.A. Ng and R. Petrick. (2019). Incremental Learning of Action Models for Planning. ICAPS 2019 Workshop on Knowledge Engineering for Planning and Scheduling (KEPS).
Y. Carreno, R. Petrick, and Y. Petillot. (2019). Towards Long-Term Autonomy Based on Temporal Planning. Proceedings of the Towards Autonomous Robotic Systems Conference (TAROS), in Lecture Notes in Artificial Intelligence (LNAI), 11650:143-154, doi:10.1007/978-3-030-25332-5_13.
P. Ardón, È. Pairet, R. Petrick, S. Ramamoorthy, and K. Lohan. (2019). Reasoning on Grasp-Action Affordances. Proceedings of the Towards Autonomous Robotic Systems Conference (TAROS), in Lecture Notes in Artificial Intelligence (LNAI), 11649:3-15, doi:10.1007/978-3-030-23807-0_1.
Y. Carreno, R. Petrick, and Y. Petillot. (2019). Multi-agent Strategy for Marine Applications via Temporal Planning. Proceedings of the IEEE International Conference on Artificial Intelligence and Knowledge Engineering (AIKE), pages 243-250, doi:10.1109/AIKE.2019.00049.
H. Hastie, D.A. Robb, J. Lopes, M. Ahmad, P. Le Bras, X. Liu, R. Petrick, K. Lohan, and M.J. Chantler. (2019). Challenges in Collaborative HRI for Remote Robot Teams. CHI 2019 Workshop on Challenges of Working on Social Robots that Collaborate with People (SIRCHI), doi:10.48550/arXiv.1905.07379.
R. Petrick and R.L. Hill. (2019). Start Making Sense: Cognitive and Affective Confidence Measures for Explanation Generation using Epistemic Planning. AAAI 2019 Spring Symposium on Story-Enabled Intelligence.
C. Schwaab, E. Komendantskaya, A. Hill, F. Farka, R. Petrick, J. Wells, and K. Hammond. (2019). Proof-Carrying Plans. Proceedings of the International Symposium on Practical Aspects of Declarative Languages (PADL), pages 204-220, doi:10.1007/978-3-030-05998-9_13.
P. Ardón, È. Pairet, R. Petrick, S. Ramamoorthy, and K.S. Lohan. (2019). Learning Grasp Affordance Reasoning through Semantic Relations. IEEE Robotics and Automation Letters (RA-L), 4(4):4571-4578, doi:10.1109/LRA.2019.2933815.
P. Ardón, È. Pairet, R. Petrick, S. Ramamoorthy, and K.S. Lohan. (2019). Learning Grasp Affordance Reasoning through Semantic Relations. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
R. Petrick, S. Dalzel-Job, and R. Petrick. (2019). Combining Cognitive and Affective Measures with Epistemic Planning for Explanation Generation. Proceedings of the ICAPS 2019 Workshop on Explainable Planning (XAIP), pages 141-145.

2018

A. Gaschler, R. Petrick, O. Khatib, and A. Knoll. (2018). KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner. Journal of Artificial Intelligence Research, 61:323-362, doi:10.1613/jair.5560. pdf
H. Hastie, K. Lohan, M. Chantler, D. Robb, S. Ramamoorthy, R. Petrick, S. Vijayakumar, and D. Lane. (2018). The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces. HRI 2018 Workshop on Explainable Robotic Systems, doi:10.48550/arXiv.1803.02100. pdf
L. Chrpa, R. Petrick, M. Vallati, and T. Vaquero (eds.). (2018). Proceedings of the Workshop on Knowledge Engineering for Planning and Scheduling (KEPS 2018). International Conference on Automated Planning and Scheduling (ICAPS). pdf
R.G. Freedman, J.D. Frank, J Benton, and R. Petrick (eds.). (2018). Proceedings of the Workshop on User Interfaces and Planning and Scheduling (UISP 2018). International Conference on Automated Planning and Scheduling (ICAPS). pdf
C. Geib and R. Petrick (eds.). (2018). The 2017 AAAI Fall Symposium Series: Papers from the 2017 AAAI Fall Symposia, Technical Reports FSS-17-01 - FSS-17-05, AAAI Press.

2017

F. Rovida, M. Crosby, D. Holz, A. Polydoros, B. Großmann, R. Petrick, and V. Krüger. (2017). SkiROS — A Skill-Based Robot Control Platform on Top of ROS. In A. Koubaa (ed.), Robot Operating System (ROS): The Complete Reference (Volume 2), Studies in Computational Intelligence, 707:121-160, Springer, doi:10.1007/978-3-319-54927-9_4. pdf
M. Crosby, F. Rovida, V. Krüger, and R. Petrick. (2017). Integrating Mission and Task Planning in an Industrial Robotics Framework. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), pages 471-479, doi:10.1609/icaps.v27i1.13857. pdf
M.E. Foster and R. Petrick. (2017). Separating Representation, Reasoning, and Implementation for Interaction Management: Lessons from Automated Planning. In K. Jokinen and G. Wilcock (eds.), Dialogues with Social Robots: Enablements, Analyses, and Evaluation, Lecture Notes in Electrical Engineering, 427:93-107, Springer, doi:10.1007/978-981-10-2585-3_7. pdf

2016

M. Crosby, R. Petrick, C. Toscano, R. Dias, F. Rovida, and V. Krüger. (2016). Integrating Mission, Logistics, and Task Planning for Skills-Based Robot Control in Industrial Kitting Applications. Proceedings of the Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2016). pdf
R. Petrick and M.E. Foster. (2016). Using General-Purpose Planning for Action Selection in Human-Robot Interaction. AAAI 2016 Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI). pdf | poster | slides
F. Rovida, V. Krueger, L. Nalpantidis, A. Charzoule, A. Lasnier, R. Petrick, M. Crosby, C. Toscano, and G. Veiga. (2016). A Cyber-Physical Systems Approach for Controlling Autonomous Mobile Manipulators. International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR), Advances in Cooperative Robotics, pages 169-177, doi:10.1142/9789813149137_0022.
C. Geib, J. Weerasinghe, S. Matskevich, P. Kantharaju, B. Craenen, and R. Petrick. (2016). Building Helpful Virtual Agents Using Plan Recognition and Planning. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), pages 162-168, doi:10.1609/aiide.v12i1.12883. pdf
V. Krueger, A. Chazoule, M. Crosby, A. Lasnier, M.R. Pedersen, F. Rovida, L. Nalpantidis, R. Petrick, C. Toscano, and G. Veiga. (2016). A Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing. Proceedings of the IEEE, 104(5):1114-1127, doi:10.1109/JPROC.2016.2521731. info
C. Geib, B. Craenen, and R. Petrick. (2016). Combining Plan Recognition, Goal Reasoning, and Planning for Cooperative Task Behaviour. IJCAI 2016 Workshop on Goal Reasoning. pdf
M. Crosby, F. Rovida, M.R. Pedersen, R. Petrick, and V. Krueger. (2016). Planning for Robots with Skills. ICAPS 2016 Workshop on Planning and Robotics (PlanRob), pages 49-57. pdf
C. Geib, B. Craenen, and R. Petrick. (2016). Generating Collaborative Behaviour through Plan Recognition and Planning. Proceedings of the ICAPS 2016 Workshop on Distributed and Multi-Agent Planning (DMAP), pages 98-105. pdf
F. Rovida, V. Krueger, C. Toscano, G. Veiga, M. Crosby, and R. Petrick. (2016). Planning for Sustainable and Reliable Robotic Part Handling in Manufacturing Automation. ICAPS 2016 System Demonstration. pdf | storyboard | poster
R. Petrick and M.E. Foster. (2016). Action Selection for Interaction Management: Opportunities and Lessons for Automated Planning. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2015). pdf
C. Geib, B. Craenen, and R. Petrick. (2016). I Can Help! Cooperative Task Behaviour through Plan Recognition and Planning. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2015). pdf
M.E. Foster and R. Petrick. (2016). Separating Representation, Reasoning, and Implementation for Interaction Management. International Workshop on Spoken Dialogue Systems (IWSDS). pdf | poster

2015

M. Crosby and R. Petrick. (2015). Mission Planning for a Robot Factory Fleet. IROS 2015 Workshop on Task Planning for Intelligent Robots in Service and Manufacturing. pdf
R. Petrick and A. Gaschler. (2015). Knowledge-Level Planning for Robot Task Planning and Human-Robot Interaction. Extended abstract and poster from the RSS 2015 Workshop on Combining AI Reasoning and Cognitive Science with Robotics. pdf | poster | slides
A. Gaschler, I. Kessler, R. Petrick, and A. Knoll. (2015). Extending the Knowledge of Volumes Approach to Robot Task Planning with Efficient Geometric Predicates. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3061-3066, doi:10.1109/ICRA.2015.7139619. pdf

2014

R. Petrick and A. Gaschler. (2014). Extending Knowledge-Level Planning with Sensing for Robot Task Planning. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2014). pdf | slides
M. Crosby and R. Petrick. (2014). Centralised High-Level Planning for a Robot Fleet. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2014). pdf
M. Crosby and R. Petrick. (2014). Improving Planner Performance in Grid Worlds with Macro Actions. International Cognitive Robotics Workshop (CogRob 2014) at ECAI 2014. pdf
R. Petrick and A. Gaschler. (2014). Extending Knowledge-Level Contingent Planning for Robot Task Planning. Proceedings of the ICAPS 2014 Workshop on Planning and Robotics (PlanRob), pages 157-165. pdf | slides
M.E. Foster and R. Petrick. (2014). Planning for Social Interaction with Sensor Uncertainty. Proceedings of the ICAPS 2014 Scheduling and Planning Applications woRKshop (SPARK), pages 19-20. pdf | poster | slides
M. Crosby and R. Petrick. (2014). Temporal Multiagent Planning with Concurrent Action Constraints. Proceedings of the ICAPS 2014 Workshop on Distributed and Multi-Agent Planning (DMAP), pages 16-24. pdf
P. Kaiser, M. Lewis, R. Petrick, T. Asfour, and M. Steedman. (2014). Extracting Common Sense Knowledge from Text for Robot Planning. IEEE International Conference on Robotics and Automation (ICRA 2014), pages 3749-3756. pdf
R. Petrick. (2014). Extending the Knowledge-Level Approach to Planning for Social Interaction. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2013). pdf | slides
A. Gaschler, S. Nogina, R. Petrick, and A. Knoll. (2014). Planning Perception and Action for Cognitive Mobile Manipulators. Proceedings of SPIE Volume 9025 - Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, doi:10.1117/12.2038967. pdf
R. Petrick and C. Becker-Asano. (2014). Working Group Report on Applications of Epistemic Planning in the Real World (APPL). In T. Ågotnes, G. Lakemeyer, B. Löwe, and B. Nebel (eds.), Planning with Epistemic Goals, Report from Dagstuhl Seminar 14032, Dagstuhl Reports 4(1):91-94. pdf

2013

M. Giuliani, R. Petrick, M.E. Foster, A. Gaschler, A. Isard, M. Pateraki, and M. Sigalas. (2013). Comparing Task-Based and Socially Intelligent Behaviour in a Robot Bartender. Proceedings of the ACM International Conference on Multimodal Interaction (ICMI 2013), pages 263-270. pdf | slides
A. Gaschler, R. Petrick, M. Giuliani, M. Rickert, and A. Knoll. (2013). KVP: A Knowledge of Volumes Approach to Robot Task Planning. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), pages 202-208. pdf
A. Gaschler, R. Petrick, T. Kröger, O. Khatib, and A. Knoll. (2013). Robot Task and Motion Planning with Sets of Convex Polyhedra. RSS 2013 Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications. pdf
R. Petrick and M.E. Foster. (2013). Planning for Social Interaction in a Robot Bartender Domain. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 2013), Special Track on Novel Applications, pages 389-397. pdf | slides
This paper was awarded a Best Paper Award at ICAPS 2013.
M. Crosby, M. Rovatsos, and R. Petrick. (2013). Automated Agent Decomposition for Classical Planning. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 2013), pages 46-54. pdf
K. Mourão and R. Petrick. (2013). Learning Knowledge-Level Domain Dynamics. ICAPS 2013 Workshop on Planning and Learning (PAL), pages 23-31. pdf
R. Petrick and M.E. Foster. (2013). Plan-Based Social Interaction with a Robot Bartender. Proceedings of the ICAPS 2013 Application Showcase, pages 10-13. pdf | storyboard | poster
A. Gaschler, R. Petrick, T. Kröger, A. Knoll, and O. Khatib. (2013). Robot Task Planning with Contingencies for Run-time Sensing. ICRA 2013 Workshop on Combining Task and Motion Planning. pdf

2012

R. Petrick and M.E. Foster. (2012). Knowledge-Level Planning for Task-Based Social Interaction. Workshop of the UK Planning and Scheduling Special Interest Group (UK PlanSIG 2012). pdf | slides
M.E. Foster, A. Gaschler, M. Giuliani, A. Isard, M. Pateraki, and R. Petrick. (2012). Two People Walk Into a Bar: Dynamic Multi-Party Social Interaction with a Robot Agent. Proceedings of the ACM International Conference on Multimodal Interaction (ICMI 2012), pages 3-10. pdf
K. Mourão, L. Zettlemoyer, R. Petrick, and M. Steedman. (2012). Learning STRIPS Operators from Noisy and Incomplete Observations. Proceedings of the Conference on Uncertainty in Artificial Intelligence (UAI 2012), pages 614-623. pdf
R. Petrick and M.E. Foster. (2012). What Would You Like to Drink? Recognising and Planning with Social States in a Robot Bartender Domain. Proceedings of the International Cognitive Robotics Workshop (CogRob 2012) at AAAI 2012, pages 69-76. pdf | slides
R. Petrick, M.E. Foster, and A. Isard. (2012). Social State Recognition and Knowledge-Level Planning for Human-Robot Interaction in a Bartender Domain. Proceedings of the AAAI 2012 Workshop on Grounding Language for Physical Systems, pages 32-38. pdf | poster
R. Petrick, M.E. Foster, and A. Isard. (2012). Social State Recognition and Knowledge-Level Planning for Human-Robot Interaction in a Bartender Domain. Poster from the 33rd Language at Edinburgh Lunch, University of Edinburgh, 8 June. poster

2011

R. Petrick. (2011). Knowledge, Action, and Cartesian Situations in the Situation Calculus. In Gerhard Lakemeyer and Sheila A. McIlraith (eds.), Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque, College Publications. pdf
N. Krüger, C. Geib, J. Piater, R. Petrick, M. Steedman, F. Wörgötter, A. Ude, T. Asfour, D. Kraft, D. Omrčen, A. Agostini, and R. Dillmann. (2011). Object-Action Complexes: Grounded Abstractions of Sensory-Motor Processes. Robotics and Autonomous Systems, 59(10):740-757, doi:10.1016/j.robot.2011.05.009.
A. Koller and R. Petrick. (2011). Experiences with Planning for Natural Language Generation. Computational Intelligence, Special Issue on Scheduling and Planning Applications: Selected Papers from the SPARK Workshop Series, 27(1):23-40. pdf | info
R. Petrick. (2011). An Extension of Knowledge-Level Planning to Interval-Valued Functions. AAAI 2011 Workshop on Generalized Planning. pdf | slides

2010

K. Mourão, R. Petrick, and M. Steedman. (2010). Learning Action Effects in Partially Observable Domains. Proceedings of the European Conference on Artificial Intelligence (ECAI 2010), pages 973-974. pdf
G. Christelis, M. Rovatsos, and R. Petrick. (2010). Exploiting Domain Knowledge to Improve Norm Synthesis. Proceedings of the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2010), pages 831-838. pdf
R. Petrick, N. Adermann, T. Asfour, M. Steedman, and R. Dillmann. (2010). Connecting Knowledge-Level Planning and Task Execution on a Humanoid Robot using Object-Action Complexes. Poster in the Proceedings of the International Conference on Cognitive Systems (CogSys 2010). poster

2009

R. Petrick. (2009). P2: A Baseline Approach to Planning with Control Structures and Programs. Proceedings of the ICAPS 2009 Workshop on Generalized Planning: Macros, Loops, Domain Control, pages 59-64. pdf | slides
R. Petrick, D. Kraft, N. Krüger, and M. Steedman. (2009). Combining Cognitive Vision, Knowledge-Level Planning with Sensing, and Execution Monitoring for Effective Robot Control. Proceedings of the ICAPS 2009 Workshop on Planning and Plan Execution for Real-World Systems, pages 58-65. pdf | slides
K. Mourão, R. Petrick, and M. Steedman. (2009). Learning Action Effects in Partially Observable Domains. Proceedings of the ICAPS 2009 Workshop on Planning and Learning, pages 15-22. pdf

2008

R. Petrick. (2008). Cartesian Situations and Knowledge Decomposition in the Situation Calculus. Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 2008), pages 629-639. pdf | slides
K. Mourão, R. Petrick, and M. Steedman. (2008). Using Kernel Perceptrons to Learn Action Effects for Planning. Proceedings of the International Conference on Cognitive Systems (CogSys 2008), pages 45-50. pdf | slides
D. Kraft, E. Başeski, M. Popović, A. M. Batog, A. Kjær-Nielsen, N. Krüger, R. Petrick, C. Geib, N. Pugeault, M. Steedman, T. Asfour, R. Dillmann, S. Kalkan, F. Wörgötter, B. Hommel, R. Detry, and J. Piater. (2008). Exploration and Planning in a Three-Level Cognitive Architecture. Proceedings of the International Conference on Cognitive Systems (CogSys 2008), pages 71-78. pdf
A. Koller and R. Petrick. (2008). Experiences with Planning for Natural Language Generation. ICAPS 2008 Scheduling and Planning Applications woRKshop (SPARK). pdf | slides

This paper was chosen as the Best Paper of the workshop.
R. Petrick, D. Kraft, K. Mourão, C. Geib, N. Pugeault, N. Krüger, and M. Steedman. (2008). Representation and Integration: Combining Robot Control, High-Level Planning, and Action Learning. Proceedings of the International Cognitive Robotics Workshop (CogRob 2008) at ECAI 2008, pages 32-41. pdf | slides

2007

R. Petrick. (2007). Planning for Desktop Services. ICAPS 2007 Workshop on Moving Planning and Scheduling Systems into the Real World. pdf | slides
M. Steedman and R. Petrick. (2007). Planning Dialog Actions. Proceedings of the SIGdial Workshop on Discourse and Dialogue (SIGdial 2007), pages 265-272. pdf | slides

2006

C. Geib, K. Mourão, R. Petrick, N. Pugeault, M. Steedman, N. Krueger, and F. Wörgötter. (2006). Object Action Complexes as an Interface for Planning and Robot Control. IEEE-RAS Humanoids-06 Workshop: Towards Cognitive Humanoid Robots. pdf
R. Petrick. (2006). A Knowledge-Level Approach for Effective Acting, Sensing, and Planning. Ph.D. Thesis, Department of Computer Science, University of Toronto. (Available upon request) slides

Pre-2006

R. Petrick and F. Bacchus. (2004). Extending the Knowledge-Based Approach to Planning with Incomplete Information and Sensing. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), pages 2-11. pdf | slides

This paper was presented at a joint KR/ICAPS session and also appears in: R. Petrick and F. Bacchus (2004). Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR), pages 613-622.

R. Petrick and F. Bacchus. (2004). PKS: Knowledge-Based Planning with Incomplete Information and Sensing. Proceedings of the ICAPS 2004 System Demonstration Session. pdf | storyboard
R. Petrick and F. Bacchus. (2003). Reasoning with Conditional Plans in the Presence of Incomplete Knowledge. Proceedings of the ICAPS 2003 Workshop on Planning under Uncertainty and Incomplete Information, pages 96-102. pdf | slides
R. Petrick and H. Levesque. (2002). Knowledge Equivalence in Combined Action Theories. Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 2002), pages 303-314. pdf | slides
R. Petrick and F. Bacchus. (2002). A Knowledge-Based Approach to Planning with Incomplete Information and Sensing. Proceedings of the International Conference on Artificial Intelligence Planning and Scheduling (AIPS 2002), pages 212-221. pdf | slides

This paper was awarded a Best Paper Award at AIPS 2002.

R. Petrick. (1998). Representing an Agent's Incomplete Knowledge for Planning. Master's Thesis, Department of Computer Science, University of Waterloo. pdf | slides
F. Bacchus and R. Petrick. (1998). Modeling an Agent's Incomplete Knowledge during Planning and Execution. Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 1998), pages 432-443. pdf | slides

Unpublished manuscripts

P. Ardón, È. Pairet, K.S. Lohan, S. Ramamoorthy, and R. Petrick. (2020). Affordances in Robotic Tasks - A Survey. arXiv preprint arXiv:2004.07400. pdf
A. Koller and R. Petrick. (2010). Domain proposal: Sentence generation with tree-adjoining grammars (CRISP). A planning domain proposal originally submitted to the deterministic track of the 2011 International Planning Competition (IPC 2011), unpublished. pdf

The CRISP domain was not used in IPC 2011, however, the problem generator, domain definition, and sample problems are available from the IPC 2011 unused domains page.

A. Koller, G. Tack, and R. Petrick. (2009). Planning Challenges 2.0. A position paper originally submitted to the 2010 International Conference on Automated Planning and Scheduling (ICAPS 2010), unpublished. pdf