This page contains a list of my publications and slides from selected paper talks, available for download as PDF files. For most publications, I have tried to correct the obvious typos that appeared in the published versions of these papers. Slides and BIBT_EX references are available for most publications. A categorised list of my publications is also available.

External lists: Google Scholar | ORCID | Semantic Scholar | dblp

• Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing, V. Krueger, F. Rovida, B. Grossmann, R. Petrick, M. Crosby, A. Charzoule, G. Garcia, S. Behnke, C. Toscano, and G. Veiga, Robotics and Computer-Integrated Manufacturing, 57, 213-229, doi:10.1016/j.rcim.2018.11.011, 2019.
  [ abstract | bib | pdf | journal link ]

• Proof-Carrying Plans, C. Schwaab, E. Komendantskaya, A. Hill, F. Farka, R. Petrick, J. Wells, and K. Hammond, Proceedings of the International Symposium on Practical Aspects of Declarative Languages (PADL 2019), 2019.
  [ abstract | bib | pdf ]

• KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner, A. Gaschler, R. Petrick, O. Khatib, and A. Knoll, Journal of Artificial Intelligence Research, 61, 323-362, doi:10.1613/jair.5560, 2018.
  [ abstract | bib | pdf | journal link ]

• The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces, H. Hastie, K. Lohan, M. Chantler, D. Robb, S. Ramamoorthy, R. Petrick, S. Vijayakumar, and D. Lane, HRI 2018 Workshop on Explainable Robotic Systems, arXiv:1803.02100, 2018.
  [ abstract | bib | pdf | arXiv ]

• SkiROS — A Skill-Based Robot Control Platform on Top of ROS, F. Rovida, M. Crosby, D. Holz, A. Polydoros, B. Großmann, R. Petrick, and V. Krüger, in A. Koubaa (ed.), Robot Operating System (ROS): The Complete Reference (Volume 2), Studies in Computational Intelligence, Volume 707, pages 121-160, Springer, 2017.
  [ abstract | bib | pdf | chapter link ]

• Integrating Mission and Task Planning in an Industrial Robotics Framework, M. Crosby, F. Rovida, V. Krüger, and R. Petrick, Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 2017), pages 471-479, 2017.
  [ abstract | bib | pdf ]

• Separating Representation, Reasoning, and Implementation for Interaction Management: Lessons from Automated Planning, M.E. Foster and R. Petrick, in K. Jokinen and G. Wilcock (eds.), Dialogues with Social Robots: Enablements, Analyses, and Evaluation, Lecture Notes in Electrical Engineering, Volume 427, pages 93-107, Springer, 2017.
  [ abstract | bib | pdf ]

• Integrating Mission, Logistics, and Task Planning for Skills-Based Robot Control in Industrial Kitting Applications, M. Crosby, R. Petrick, C. Toscano, R. Dias, F. Rovida, and V. Krüger, Proceedings of the Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2016), 2016.
  [ abstract | bib | pdf | slides (coming soon) ]

• Using General-Purpose Planning for Action Selection in Human-Robot Interaction, R. Petrick and M.E. Foster, AAAI 2016 Fall Symposium on Artificial Intelligence for Human-Robot Interaction (AI-HRI), 2016.
  [ abstract | bib | pdf | poster | slides ]

• A Cyber-Physical Systems Approach for Controlling Autonomous Mobile Manipulators, F. Rovida, V. Krueger, L. Nalpantidis, A. Charzoule, A. Lasnier, R. Petrick, M. Crosby, C. Toscano, and G. Veiga, Proceedings of the International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016), Workshop on Collaborative Robots for Industrial Applications, pages 169-177, 2016.
  [ abstract | bib | book link ]

• Building Helpful Virtual Agents Using Plan Recognition and Planning, C. Geib, J. Weerasinghe, S. Matskevich, P. Kantharaju, B. Craenen, and R. Petrick. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE 2016), pages 162-168, 2016.
  [ abstract | bib | pdf ]

• A Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing, V. Krueger, A. Chazoule, M. Crosby, A. Lasnier, M.R. Pedersen, F. Rovida, L. Nalpantidis, R. Petrick, C. Toscano, and G. Veiga, Proceedings of the IEEE, 104(5), 1114-1127, doi:10.1109/JPROC.2016.2521731, 2016.
  [ abstract | bib | journal link ]

• Combining Plan Recognition, Goal Reasoning, and Planning for Cooperative Task Behaviour, C. Geib, B. Craenen, and R. Petrick, IJCAI 2016 Workshop on Goal Reasoning, 2016.
  [ abstract | bib | pdf ]

• Planning for Robots with Skills, M. Crosby, F. Rovida, M.R. Pedersen, R. Petrick, and V. Krueger, ICAPS 2016 Workshop on Planning and Robotics (PlanRob), pages 49-57, 2016.
  [ abstract | bib | pdf ]

• Generating Collaborative Behaviour through Plan Recognition and Planning, C. Geib, B. Craenen, and R. Petrick, Proceedings of the ICAPS 2016 Workshop on Distributed and Multi-Agent Planning (DMAP), pages 98-105, 2016.
  [ abstract | bib | pdf | slides (coming soon) ]

• Planning for Sustainable and Reliable Robotic Part Handling in Manufacturing Automation, F. Rovida, V. Krueger, C. Toscano, G. Veiga, M. Crosby, and R. Petrick, ICAPS 2016 System Demonstration, 2016.
  [ abstract | bib | pdf | storyboard | poster ]

• Action Selection for Interaction Management: Opportunities and Lessons for Automated Planning, R. Petrick and M.E. Foster, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2015), 2016.
  [ abstract | bib | pdf | slides (coming soon) ]

• I Can Help! Cooperative Task Behaviour through Plan Recognition and Planning, C. Geib, B. Craenen, and R. Petrick, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2015), 2016.
  [ abstract | bib | pdf | slides (coming soon) ]

• Separating Representation, Reasoning, and Implementation for Interaction Management, M.E. Foster and R. Petrick, International Workshop on Spoken Dialogue Systems (IWSDS 2016), 2016.
  [ abstract | bib | pdf | poster ]

• Mission Planning for a Robot Factory Fleet, M. Crosby and R. Petrick, IROS 2015 Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, 2015.
  [ abstract | bib | pdf ]

• Knowledge-Level Planning for Robot Task Planning and Human-Robot Interaction, R. Petrick and A. Gaschler, extended abstract and poster from the RSS 2015 Workshop on Combining AI Reasoning and Cognitive Science with Robotics, 2015.
  [ abstract | bib | pdf | poster | slides ]

• Extending the Knowledge of Volumes Approach to Robot Task Planning with Efficient Geometric Predicates, A. Gaschler, I. Kessler, R. Petrick, and A. Knoll, IEEE International Conference on Robotics and Automation (ICRA 2015), pages 3061-3066, 2015.
  [ abstract | bib | pdf ]

• Extending Knowledge-Level Planning with Sensing for Robot Task Planning, R. Petrick and A. Gaschler, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2014), 2014.
  [ abstract | bib | pdf | slides ]

• Centralised High-Level Planning for a Robot Fleet, M. Crosby and R. Petrick, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2014), 2014.
  [ abstract | bib | pdf ]

• Improving Planner Performance in Grid Worlds with Macro Actions, M. Crosby and R. Petrick, International Cognitive Robotics Workshop (CogRob 2014) at ECAI 2014, 2014.
  [ abstract | bib | pdf ]

• Extending Knowledge-Level Contingent Planning for Robot Task Planning, R. Petrick and A. Gaschler, Proceedings of the ICAPS 2014 Workshop on Planning and Robotics (PlanRob), pages 157-165, 2014.
  [ abstract | bib | pdf | slides ]

• Planning for Social Interaction with Sensor Uncertainty, M.E. Foster and R. Petrick, Proceedings of the ICAPS 2014 Scheduling and Planning Applications woRKshop (SPARK), pages 19-20, 2014.
  [ abstract | bib | pdf | poster | slides ]

• Temporal Multiagent Planning with Concurrent Action Constraints, M. Crosby and R. Petrick, Proceedings of the ICAPS 2014 Workshop on Distributed and Multi-Agent Planning (DMAP), pages 16-24, 2014.
  [ abstract | bib | pdf ]

• Extracting Common Sense Knowledge from Text for Robot Planning, P. Kaiser, M. Lewis, R. Petrick, T. Asfour, and M. Steedman, IEEE International Conference on Robotics and Automation (ICRA 2014), pages 3749-3756, 2014.
  [ abstract | bib | pdf ]

• Extending the Knowledge-Level Approach to Planning for Social Interaction, R. Petrick, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2013), 2014.
  [ abstract | bib | pdf | slides ]

• Planning Perception and Action for Cognitive Mobile Manipulators, A. Gaschler, S. Nogina, R. Petrick, and A. Knoll, Proceedings of SPIE Volume 9025 - Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, doi:10.1117/12.2038967, 2014.
  [ abstract | bib | pdf ]

• Working Group Report on Applications of Epistemic Planning in the Real World (APPL), R. Petrick and C. Becker-Asano, 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, 2014.
  [ abstract | bib | pdf ]

• Comparing Task-Based and Socially Intelligent Behaviour in a Robot Bartender, M. Giuliani, R. Petrick, M.E. Foster, A. Gaschler, A. Isard, M. Pateraki, and M. Sigalas, Proceedings of the ACM International Conference on Multimodal Interaction (ICMI 2013), pages 263-270, 2013.
  [ abstract | bib | pdf | slides ]

• KVP: A Knowledge of Volumes Approach to Robot Task Planning, A. Gaschler, R. Petrick, M. Giuliani, M. Rickert, and A. Knoll, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), pages 202-208, 2013.
  [ abstract | bib | pdf ]

• Robot Task and Motion Planning with Sets of Convex Polyhedra, A. Gaschler, R. Petrick, T. Kröger, O. Khatib, and A. Knoll, RSS 2013 Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, 2013.
  [ abstract | bib | pdf ]

• Planning for Social Interaction in a Robot Bartender Domain, R. Petrick and M.E. Foster, International Conference on Automated Planning and Scheduling (ICAPS 2013), Special Track on Novel Applications, pages 389-397, 2013.
  [ abstract | bib | pdf | slides ]

  This paper was awarded a Best Paper Award at ICAPS 2013.

• Automated Agent Decomposition for Classical Planning, M. Crosby, M. Rovatsos, and R. Petrick, International Conference on Automated Planning and Scheduling (ICAPS 2013), pages 46-54, 2013.
  [ abstract | bib | pdf ]

• Learning Knowledge-Level Domain Dynamics, K. Mourão and R. Petrick, ICAPS 2013 Workshop on Planning and Learning (PAL), pages 23-31, 2013.
  [ abstract | bib | pdf ]

• Plan-Based Social Interaction with a Robot Bartender, R. Petrick and M.E. Foster, Proceedings of the ICAPS 2013 Application Showcase, pages 10-13, 2013.
  [ abstract | bib | pdf | storyboard | poster ]

• Robot Task Planning with Contingencies for Run-time Sensing, A. Gaschler, R. Petrick, T. Kröger, A. Knoll, and O. Khatib, ICRA 2013 Workshop on Combining Task and Motion Planning, 2013.
  [ abstract | bib | pdf ]

• Knowledge-Level Planning for Task-Based Social Interaction, R. Petrick and M.E. Foster, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2012), 2012.
  [ abstract | bib | pdf | slides ]

• Two People Walk Into a Bar: Dynamic Multi-Party Social Interaction with a Robot Agent, M.E. Foster, A. Gaschler, M. Giuliani, A. Isard, M. Pateraki, and R. Petrick, Proceedings of the ACM International Conference on Multimodal Interaction (ICMI 2012), pages 3-10, 2012.
  [ abstract | bib | pdf ]

• Learning STRIPS Operators from Noisy and Incomplete Observations, K. Mourão, L. Zettlemoyer, R. Petrick, and M. Steedman, Proceedings of the Conference on Uncertainty in Artificial Intelligence (UAI 2012), pages 614-623, 2012.
  [ abstract | bib | pdf ]

• What Would You Like to Drink? Recognising and Planning with Social States in a Robot Bartender Domain, R. Petrick and M.E. Foster, Proceedings of the International Cognitive Robotics Workshop (CogRob 2012) at AAAI 2012, pages 69-76, 2012.
  [ abstract | bib | pdf | slides ]

• Social State Recognition and Knowledge-Level Planning for Human-Robot Interaction in a Bartender Domain, R. Petrick, M.E. Foster, and A. Isard, Proceedings of the AAAI 2012 Workshop on Grounding Language for Physical Systems, pages 32-38, 2012.
  [ abstract | bib | pdf | poster ]

• Social State Recognition and Knowledge-Level Planning for Human-Robot Interaction in a Bartender Domain, R. Petrick, M.E. Foster, and A. Isard, poster from the 33rd Language at Edinburgh Lunch, University of Edinburgh, 8 June, 2012.
  [ abstract | bib | poster ]

• Knowledge, Action, and Cartesian Situations in the Situation Calculus, R. Petrick, in Gerhard Lakemeyer and Sheila A. McIlraith (eds.), Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque, College Publications, 2011.
  [ abstract | bib | pdf ]

• Object-Action Complexes: Grounded Abstractions of Sensory-Motor Processes, 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, Robotics and Autonomous Systems, 59(10):740-757, doi:10.1016/j.robot.2011.05.009, 2011.
  [ abstract | bib | journal link ]

• Experiences with Planning for Natural Language Generation, A. Koller and R. Petrick, Computational Intelligence, Special Issue on Scheduling and Planning Applications: Selected Papers from the SPARK Workshop Series, 27(1):23-40, 2011.
  [ abstract | bib | pdf | journal link ]

• An Extension of Knowledge-Level Planning to Interval-Valued Functions, R. Petrick, AAAI 2011 Workshop on Generalized Planning, 2011.
  [ abstract | bib | pdf | slides ]

• Learning Action Effects in Partially Observable Domains, K. Mourão, R. Petrick, and M. Steedman, Proceedings of the European Conference on Artificial Intelligence (ECAI 2010), pages 973-974, 2010.
  [ abstract | bib | pdf ]

• Exploiting Domain Knowledge to Improve Norm Synthesis, G. Christelis, M. Rovatsos, and R. Petrick, Proceedings of the International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2010), pages 831-838, 2010.
  [ abstract | bib | pdf ]

• Connecting Knowledge-Level Planning and Task Execution on a Humanoid Robot using Object-Action Complexes, R. Petrick, N. Adermann, T. Asfour, M. Steedman, and R. Dillmann, poster in the Proceedings of the International Conference on Cognitive Systems (CogSys 2010), 2010.
  [ abstract | bib | poster ]

• P²: A Baseline Approach to Planning with Control Structures and Programs, R. Petrick, Proceedings of the ICAPS 2009 Workshop on Generalized Planning: Macros, Loops, Domain Control, pages 59-64, 2009.
  [ abstract | bib | pdf | slides ]

• Combining Cognitive Vision, Knowledge-Level Planning with Sensing, and Execution Monitoring for Effective Robot Control, R. Petrick, D. Kraft, N. Krüger, and M. Steedman, Proceedings of the ICAPS 2009 Workshop on Planning and Plan Execution for Real-World Systems, pages 58-65, 2009.
  [ abstract | bib | pdf | slides ]

• Learning Action Effects in Partially Observable Domains, K. Mourão, R. Petrick, and M. Steedman, Proceedings of the ICAPS 2009 Workshop on Planning and Learning, pages 15-22, 2009.
  [ abstract | bib | pdf ]

• Cartesian Situations and Knowledge Decomposition in the Situation Calculus, R. Petrick, Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 2008), pages 629-639, 2008.
  [ abstract | bib | pdf | slides ]

• Using Kernel Perceptrons to Learn Action Effects for Planning, K. Mourão, R. Petrick, and M. Steedman, Proceedings of the International Conference on Cognitive Systems (CogSys 2008), pages 45-50, 2008.
  [ abstract | bib | pdf | slides ]

• Exploration and Planning in a Three-Level Cognitive Architecture, 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, Proceedings of the International Conference on Cognitive Systems (CogSys 2008), pages 71-78, 2008.
  [ abstract | bib | pdf ]

• Experiences with Planning for Natural Language Generation, A. Koller and R. Petrick, ICAPS 2008 Scheduling and Planning Applications woRKshop (SPARK), 2008.
  [ abstract | bib | pdf | slides ]

  This paper was chosen as the Best Paper of the workshop.

• Representation and Integration: Combining Robot Control, High-Level Planning, and Action Learning, R. Petrick, D. Kraft, K. Mourão, C. Geib, N. Pugeault, N. Krüger, and M. Steedman, Proceedings of the International Cognitive Robotics Workshop (CogRob 2008) at ECAI 2008, pages 32-41, 2008.
  [ abstract | bib | pdf | slides ]

• Planning for Desktop Services, R. Petrick, ICAPS 2007 Workshop on Moving Planning and Scheduling Systems into the Real World, 2007.
  [ abstract | bib | pdf | slides ]

• Planning Dialog Actions, M. Steedman and R. Petrick, Proceedings of the SIGdial Workshop on Discourse and Dialogue (SIGdial 2007), pages 265-272, 2007.
  [ abstract | bib | pdf | slides ]

• Object Action Complexes as an Interface for Planning and Robot Control, C. Geib, K. Mourão, R. Petrick, N. Pugeault, M. Steedman, N. Krueger, and F. Wörgötter, IEEE-RAS Humanoids-06 Workshop: Towards Cognitive Humanoid Robots, 2006.
  [ abstract | bib | pdf ]

• A Knowledge-Level Approach for Effective Acting, Sensing, and Planning, R. Petrick, Ph.D. Thesis, Department of Computer Science, University of Toronto, 2006. (Available upon request)
  [ abstract | bib | slides ]

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

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

• PKS: Knowledge-Based Planning with Incomplete Information and Sensing, R. Petrick and F. Bacchus, Proceedings of the System Demonstration session at ICAPS 2004, 2004.
  [ abstract | bib | pdf | storyboard ]

• Reasoning with Conditional Plans in the Presence of Incomplete Knowledge, R. Petrick and F. Bacchus, Proceedings of the ICAPS 2003 Workshop on Planning under Uncertainty and Incomplete Information, pages 96-102, 2003.
  [ abstract | bib | pdf | slides ]

• Knowledge Equivalence in Combined Action Theories, R. Petrick and H. Levesque, Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 2002), pages 303-314, 2002.
  [ abstract | bib | pdf | slides ]

• A Knowledge-Based Approach to Planning with Incomplete Information and Sensing, R. Petrick and F. Bacchus, Proceedings of the International Conference on Artificial Intelligence Planning and Scheduling (AIPS 2002), pages 212-221, 2002.
  [ abstract | bib | pdf | slides ]

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

• Representing an Agent's Incomplete Knowledge for Planning, R. Petrick, Master's Thesis, Department of Computer Science, University of Waterloo, 1998.
  [ abstract | bib | pdf | slides ]

• Modeling an Agent's Incomplete Knowledge during Planning and Execution, F. Bacchus and R. Petrick, Proceedings of the International Conference on Principles of Knowledge Representation and Reasoning (KR 1998), pages 432-443, 1998.
  [ abstract | bib | pdf | slides ]

• Domain proposal: Sentence generation with tree-adjoining grammars (CRISP), A. Koller and R. Petrick, planning domain proposal originally submitted to the deterministic track of the 2011 International Planning Competition (IPC 2011), unpublished, 2010.
  [ abstract | bib | 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.

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