NRL Co-Authored Publications on Goal Reasoning

This lists our co-authored publications (reverse chronological order) on Goal Reasoning (GR), which concerns agents that can deliberate about and pursue their own goals. Some of these publications concern the GR model named Goal-Driven Autonomy (GDA). Please contact David Aha if you would like to receive any of these. Links to GR workshops can be found here.
  1. Auslander, B., Floyd, M.W., Apker, T., Johnson, B., Roberts, M., & Aha, D.W. (2015). Learning to estimate: A case-based approach to task execution prediction. To appear in Proceedings of the Twenty-Third International Conference on Case-Based Reasoning. Frankfurt, Germany: Springer.

  2. Borck, H., Karneeb, J., Floyd, M.W., Alford, R., & Aha, D.W. (2015). Case-based policy and goal recognition. To appear in Proceedings of the Twenty-Third International Conference on Case-Based Reasoning. Frankfurt, Germany: Springer.

  3. Vattam, S.S., & Aha, D.W. (2015). Case-based plan recognition under imperfect observability. To appear in Proceedings of the Twenty-Third International Conference on Case-Based Reasoning. Frankfurt, Germany: Springer.

  4. Gillespie, K., Molineaux, M., Floyd, M.W., Vattam, S.S., & Aha, D.W. (2015). Goal reasoning for an autonomous squad member. In D.W. Aha (Ed.) Goal Reasoning: Papers from the ACS Workshop (Technical Report). Atlanta, GA: Georgia Institute of Technology, Institute for Robotics and Intelligent Machines.

  5. Munoz-Avila, H., Wilson, M.A., & Aha, D.W. (2015). Guiding the ass with goal motivation weights. In D.W. Aha (Ed.) Goal Reasoning: Papers from the ACS Workshop (Technical Report). Atlanta, GA: Georgia Institute of Technology, Institute for Robotics and Intelligent Machines.

  6. Roberts, M., Aha, D.W. (2015). Cleaning efficiently: A case study in modeling goal reasoning and learning. In D.W. Aha (Ed.) Goal Reasoning: Papers from the ACS Workshop (Technical Report). Atlanta, GA: Georgia Institute of Technology, Institute for Robotics and Intelligent Machines.

  7. Samsonovich, A.V., & Aha, D.W. (2015). Character-oriented narrative goal reasoning in autonomous actors. In D.W. Aha (Ed.) Goal Reasoning: Papers from the ACS Workshop (Technical Report). Atlanta, GA: Georgia Institute of Technology, Institute for Robotics and Intelligent Machines.

  8. Roberts, M., Vattam, S., Alford, R., Auslander, Apker, T., Johnson, B., & Aha, D.W. (2015). Goal reasoning to coordinate robotic teams for disaster relief. In A. Finzi, F. Ingrand, & Andrea Orlandini(Eds.) Planning and Robotics: Papers from the ICAPS Workshop. Jerusalem, Israel: AAAI Press.

  9. Alford, R., Borck, H., Karneeb, J., & Aha, D.W. (2015). Active behavior recognition in beyond visual range air combat. In Proceedings of the Third Conference on Advances in Cognitive Systems. Atlanta, GA: Cognitive Systems Foundation.

  10. Molineaux, M., & Aha, D.W. (2015). Continuous explanation generation in a multi-agent domain. In Proceedings of the Third Conference on Advances in Cognitive Systems. Atlanta, GA: Cognitive Systems Foundation.

  11. Borck, H., Karneeb, J., Alford, R., & Aha, D.W. (2015). Case-based behavior recognition in beyond visual range air combat. In Proceedings of the Twenty-Eighth Florida Artificial Intelligence Research Society Conference. Hollywood, FL: AAAI Press.

  12. Maynord, M., Vattam, S., & Aha, D.W. (2015). Increasing the runtime speed of case-based plan recognition. In Proceedings of the Twenty-Eighth Florida Artificial Intelligence Research Society Conference. Hollywood, FL: AAAI Press.

  13. Roberts, M., Apker, T., Johnson, B., Auslander, B., Wellman, B., & Aha, D.W. (2015). Coordinating robot teams for disaster relief. In Proceedings of the Twenty-Eighth Florida Artificial Intelligence Research Society Conference. Hollywood, FL: AAAI Press.

  14. Vattam, S., Aha, D.W., & Floyd, M. (2015). Error tolerant plan recognition: An empirical investigation. In Proceedings of the Twenty-Eighth Florida Artificial Intelligence Research Society Conference. Hollywood, FL: AAAI Press.

  15. Auslander, B., Apker, T., & Aha, D.W. (2014). Case-based parameter selection for plans: Coordinating autonomous vehicle teams. Proceedings of the Twenty-Second International Conference on Case-Based Reasoning (pp. 32-47). Cork, Ireland: Springer.

  16. Vattam, S.S., Aha, D.W., & Floyd, M. (2014). Case-based plan recognition using action sequence graphs. Proceedings of the Twenty-Second International Conference on Case-Based Reasoning (pp. 495-510). Cork, Ireland: Springer.

  17. Borck, H., Karneeb, J., Alford, R., & Aha, D.W. (2014). Case-based behavior recognition to facilitate planning in unmanned air vehicles. In S. Vattam & D.W. Aha (Eds.) Case-Based Agents: Papers from the ICCBR Workshop (Technical Report). University College Cork: Cork, Ireland.

  18. Molineaux, M., & Aha, D.W. (2014). Learning unknown event models. In Proceedings of the Twenty-Eighth AAAI Conference on Artificial Intelligence. Quebec City (Quebec), Canada: AAAI Press.

  19. Wilson, M.A., McMahon, J., & Aha, D.W. (2014). Bounded expectations for discrepancy detection in goal-driven autonomy. In A. Saffiotti, N. Hawes, G. Konidaris, & M. Tenorth (Eds.) AI and Robotics: Papers from the AAAI Workshop (Technical Report WS-01-14). Quebec City, Quebec, Canada: AAAI Press.

  20. Roberts, M., Vattam, S., Aha, D.W., Wilson, M., Apker, T., & Auslander, B. (2014). Iterative goal refinement for robotics. In A. Finzi & A. Orlandini (Eds.) Planning and Robotics: Papers from the ICAPS Workshop. Portsmouth, NH: AAAI Press.

  21. Molineaux, M., & Aha, D.W. (2013). Learning Models for unknown events. In D.W. Aha, M.T. Cox, & H. Muñoz-Avila (Eds.) Goal Reasoning: Papers from the ACS Workshop (Technical Report CS-TR-5029). College Park, MD: University of Maryland, Department of Computer Science.

  22. Vattam, S., Klenk, M., Molineaux, M., & Aha, D.W. (2013). Breadth of approaches to goal reasoning: A research survey. In D.W. Aha, M.T. Cox, & H. Muñoz-Avila (Eds.) Goal Reasoning: Papers from the ACS Workshop (Technical Report CS-TR-5029). College Park, MD: University of Maryland, Department of Computer Science.

  23. Wilson, M., Auslander, B., Johnson, B., Apker, T., McMahon, J., & Aha, D.W. (2013). Towards applying goal autonomy for vehicle control. In D.W. Aha, M.T. Cox, & H. Muñoz-Avila (Eds.) Goal Reasoning: Papers from the ACS Workshop (Technical Report CS-TR-5029). College Park, MD: University of Maryland, Department of Computer Science.

  24. Aha, D.W., Cox, M.T., & Muņoz-Avila, H. (Eds.) (2013). Goal reasoning: Papers from the ACS Workshop (Technical Report CS-TR-5029). College Park, MD: University of Maryland, Department of Computer Science.

  25. Jaidee, U., Munoz-Avila, H., & Aha, D.W. (2013). Case-based goal-driven coordination of multiple learning agents. Proceedings of the Twenty-First International Conference on Case-Based Reasoning (pp. 164-178). Saratoga Springs, NY: Springer. (Nominee: Best Paper Award)

  26. Wilson, M., Molineaux, M., & Aha, D.W. (2013). Domain-independent heuristics for goal formulation. In Proceedings of the Twenty-Sixth Florida Artificial Intelligence Research Society Conference. St. Pete Beach, FL: AAAI Press.

  27. Klenk, M., Molineaux, M., & Aha, D.W. (2013). Goal-driven autonomy for responding to unexpected events in strategy simulations. Computational Intelligence, 29(2), 187-206.

  28. Jaidee, U., Munoz-Avila, H., & Aha, D.W. (2012). Learning and reusing goal-specific policies for goal-driven autonomy. Proceedings of the Twentieth International Conference on Case-Based Reasoning (pp. 182-195). Lyon, France: Springer.

  29. Molineaux, M., Aha, D.W., & Kuter, U. (2012). Efficiently explaining deterministic exogeneous events in partially observable environments (Technical Note AIC-12-081). Washington, DC: Naval Research Laboratory, Navy Center for Applied Research in Artificial Intelligence.

  30. Jaidee, U., Munoz-Avila, H., & Aha, D.W. (2011). Case-based learning in goal-driven agents for real-time strategy combat tasks. In M.W. Floyd & A.A. Sánchez-Ruiz (Eds.) Case-Based Reasoning in Computer Games: Papers from the ICCBR Workshop. U. Greenwich: London, UK.

  31. Jaidee, U., Munoz-Avila, H., & Aha, D.W. (2011). Integrated learning for goal-driven autonomy. In Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence. Barcelona, Spain.

  32. Molineaux, M., Aha, D.W., & Kuter, U. (2011). Learning event models that explain anomalies. In T. Roth-Berghofer, N. Tintarev, & D.B. Leake (Eds.) Explanation-Aware Computing: Papers from the IJCAI Workshop. Barcelona, Spain.

  33. Powell, J., Molineaux, M., & Aha, D.W. (2011). Active and interactive learning of goal selection knowledge. In Proceedings of the Twenty-Fourth Florida Artificial Intelligence Research Society Conference. West Palm Beach, FL: AAAI Press. (Winner: Best Paper Award)

  34. Aha, D.W., Molineaux, M., & Klenk, M. (2011). Goal-driven autonomy. 2011 NRL Review.

  35. Munoz-Avila, H., Jaidee, U., Aha, D.W., & Carter, E. (2010). Goal directed autonomy with case-based reasoning. Proceedings of the Eighteenth International Conference on Case-Based Reasoning (pp. 228-241). Alessandria, Italy: Springer.

  36. Molineaux, M., Klenk, M., & Aha, D.W. (2010). Goal-driven autonomy in a Navy strategy simulation. In Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, GA: AAAI Press.

  37. Molineaux, M., Klenk, M., & Aha, D.W. (2010). Planning in dynamic environments: Extending HTNs with nonlinear continuous effects. In Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, GA: AAAI Press.

  38. Munoz-Avila, H., & Aha, D.W. (2010). A case study of goal-driven autonomy in domination games. In D.W. Aha, M. Klenk, H. Munoz-Avila, A. Ram, & D. Shapiro (Eds.) Goal-Directed Autonomy: Notes from the AAAI Workshop (W4). Atlanta, GA: AAAI Press.

  39. Molineaux, M. (2010). Design and evaluation of a goal-directed autonomous agent. In D.W. Aha, M.E. Klenk, H. Munoz-Avila, A. Ram, & D. Shapiro Eds.) (2010). Goal-Directed Autonomy: Notes from the AAAI Workshop (W4). Atlanta, GA: AAAI Press.

  40. Klenk, M.E. (2010). Goal-driven autonomy in planning and acting. In D.W. Aha, M.E. Klenk, H. Munoz-Avila, A. Ram, & D. Shapiro Eds.) (2010). Goal-Directed Autonomy: Notes from the AAAI Workshop (W4). Atlanta, GA: AAAI Press.

  41. Aha, D.W., Klenk, M., Munoz-Avila, H., Ram, A., & Shapiro, D. (Eds.) (2010). Goal-Directed Autonomy: Notes from the AAAI Workshop (W4). Atlanta, GA: AAAI Press.

  42. Munoz-Avila, H., Aha, D.W., Jaidee, U., Klenk, M., & Molineaux, M. (2010). Applying goal directed autonomy to a team shooter game. Proceedings of the Twenty-Third Florida Artificial Intelligence Research Society Conference (pp. 465-470). Daytona Beach, FL: AAAI Press.

Workhsops on Goal Reasoning

Acknowledgements (written by David W. Aha): This research is in collaboration with several people. First, thanks to Michael Cox, then with DARPA/IPTO, for providing seedling funding and inspiration to pursue this line of research. At that time, Matthew Molineaux (Knexus Research Corp., and GMU PhD candidate) began working with me on this topic and is pursuing it as his dissertation topic. Matthew Klenk soon joined us as an NRC post-doc and worked intensively with us on this from April 2009 to December 2010, at which time he joined PARC. We interested Lehigh University's Hector Munoz-Avila on this, and he has since involved several students, including Ulit Jaidee; this was a terrific collaboration. Jay Powell (then a PhD candidate at Indiana University) joined us during the summer of 2010 and worked with Matt Molineaux and myself on the topic of interactively learning goal formulation knowledge. Mark Wilson (Indiana U.) subsequently worked with us on GDA during the summer of 2011, and joined us more recently at NRL. Michael Maynord (U. Maryland), whose advisor is Michael Cox, visited us in the summer of 2013 to flesh out a more formal definition of goal reasoning. Postdocs Swaroop Vattam, Mark (Mak) Roberts, Ron Alford have been key to pushing the boundaries of this topic. NRL's Tom Apker and postdoc Ben Johnson have been doing so specifically in the context of unmanned vehicle control. Knexus employees Bryan Auslander, Justin Karneeb, Hayley Borck (now with Adventium Labs), Michael Floyd, and several others have likewise contributed greatly. Finally, thanks also to many others for attending the AAAI-10 ACS-13, an ACS-15 workshops, and/or providing us with information on this topic!