@InProceedings{ liu-fri-kle-fairs19,
  author = 	 {Xudong Liu and Christian Fritz and Matthew Klenk},
  title = 	 {An Extensible and Personalizable Multi-Modal Trip Planner},
  booktitle = 	 {Proceedings of the 32nd International Florida Artificial Intelligence Research Society Conference, 2019},
  year = 	 2019,
  url_paper = {https://arxiv.org/pdf/1909.11604.pdf},
  url_web = {https://arxiv.org/abs/1909.11604}
}

@InProceedings{ liu-fri-kle-mpref18,
  author = 	 {Xudong Liu and Christian Fritz and Matthew Klenk},
  title = 	 {On Extensibility and Personalizability of Multi-Modal Trip Planning},
  booktitle = 	 {11th Multidisciplinary Workshop on Advances in Preference Handling, New Orleans,LA, USA},
  year = 	 2018,
  url_paper = {liu-fri-kle-mpref18.pdf}
}

@Article{ fritz-aimag16,
  author = 	 {Christian Fritz},
  title = 	 {Automated Process Planning for CNC Machining},
  journal = 	 {AI Magazine},
  volume    = {37},
  number  = {3},
  year = 	 2016,
  url = {http://www.aaai.org/ojs/index.php/aimagazine/article/view/2665},
  url_paper = {fri-aimag-2016.pdf}
}

@InProceedings{nelaturi15:ufab,
  author    = {Saigopal Nelaturi and
               Gregory Burton and
               Christian Fritz and
               Tolga Kurtoglu},
  title     = {Automatic Spatial Planning for Machining Operations},
  booktitle = {Proceedings of The eleventh annual IEEE International Conference on Automation Science and Engineering (IEEE CASE 2015)},
  year = 	 2015,
  month = 	 {August},
  address = 	 {Gothenburg, Sweden},
  keywords = {Digital Manufacturing},
  bibbase_note = {<span style="color: green">Best Application Paper Award.</span>},
  url = {nel-bur-fri-kur-case2015.pdf}
}

@article{DBLP:journals/cad/NelaturiRFK14,
  author    = {Saigopal Nelaturi and
               Arvind Rangarajan and
               Christian Fritz and
               Tolga Kurtoglu},
  title     = {Automated fixture configuration for rapid manufacturing
               planning},
  journal   = {Computer-Aided Design},
  volume    = {46},
  year      = {2014},
  pages     = {160-169},
  ee        = {http://dx.doi.org/10.1016/j.cad.2013.08.028},
  bibsource = {DBLP, http://dblp.uni-trier.de},
  keywords = {Digital Manufacturing}
}

@InProceedings{nel-ran-fri-kur-gdspm13,
  author = 	 {Saigopal Nelaturi and Arvind Rangarajan and Christian Fritz and Tolga Kurtoglu},
  title = 	 {Automated Fixture Configuration for Rapid Manufacturing Planning},
  booktitle = {Proceedings of the 2013 SIAM Conference on Geometric and Physical Modeling (GD/SPM13)},
  year = 	 2013,
  abstract = {Practical fixture configuration largely remains an experience driven manual activity to enable customization for varying workpiece geometry, and most automated solutions do not scale well to accommodate such variation. In this paper, we address the problem of rapidly synthesizing a realistic fixture that will guarantee stability and immobility of a specified polyhedral work-part. The paper addresses both theoretical and practical issues in 3D fixturing and makes contributions to both. Many examples are shown.},
  url = {http://www.sciencedirect.com/science/article/pii/S0010448513001681},
  keywords = {Digital Manufacturing}
}

Practical fixture configuration largely remains an experience driven manual activity to enable customization for varying workpiece geometry, and most automated solutions do not scale well to accommodate such variation. In this paper, we address the problem of rapidly synthesizing a realistic fixture that will guarantee stability and immobility of a specified polyhedral work-part. The paper addresses both theoretical and practical issues in 3D fixturing and makes contributions to both. Many examples are shown.

@InProceedings{ gup-fri-pri-hoo-dek-wit-icac13,
  author = 	 {Gupta, S. and Fritz, C. and Price, R. and Hoover, R. and de Kleer, J. and Witteveen, C.}, 
  title = 	 {ThroughputScheduler: Learning to Schedule on Heterogeneous Hadoop Clusters},
  booktitle = {Proceedings of the International Conference on Autonomic Computing (ICAC '13), June 26-28, 2013, San Jose, CA USA},
  year = 	 2013,
  url = {gup-fri-pri-hoo-dek-wit-icac13.pdf},
  keywords = {Distributed Systems}
}

@article{DBLP:journals/semweb/XinHFSM13,
  author    = {Reynold S. Xin and
               Oktie Hassanzadeh and
               Christian Fritz and
               Shirin Sohrabi and
               Ren{\'e}e J. Miller},
  title     = {Publishing bibliographic data on the Semantic Web using
               BibBase},
  journal   = {Semantic Web},
  volume    = {4},
  number    = {1},
  year      = {2013},
  pages     = {15-22},
  ee        = {http://dx.doi.org/10.3233/SW-2012-0062},
  bibsource = {DBLP, http://dblp.uni-trier.de},
  keywords = {BibBase}
}

@InProceedings{ fu-eft-rad-cam-fri-idetc2012,
  author = 	 {Wentao Fu and Ata Eftekharian and Pradeep Radhakrishnan and Matthew I. Campbell and Christian Fritz},
  title = 	 {A Graph Grammar Based Approach to Automated Manufacturing Planning},
  booktitle = {Proceedings of the ASME 2012 International Design Engineering Technical Conferences &
Computers and Information in Engineering Conference, IDETC/CIE 2012, August 12-15, 2012, Chicago, IL, USA},
  year = 	 2012,
  URL = {fu-eft-rad-cam-fri-idetc2012.pdf},
  keywords = {Digital Manufacturing}
}

@InProceedings{ gup-fri-kle-wit-dx2012,
  author = 	 {Shekhar Gupta and Christian Fritz and Johan de Kleer and Cees Witteveen},
  title = 	 {Diagnosing Heterogeneous Hadoop Clusters},
  booktitle = {Proceedings of the 23rd International Workshop on Principles of Diagnosis (DX)},
  year = 	 2012,
  url = {gup-fri-kle-wit-dx2012.pdf},
  keywords = {Distributed Systems, Diagnosis}
}

@InCollection{ bai-fri-mci-hecfest11,
  author = 	 {Jorge A. Baier and Christian Fritz and Sheila A. McIlraith},
  title = 	 {Golog-style Search Control for Planning},
  booktitle = 	 {Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque},
  publisher = {College Publications},
  year = 	 2011,
  editor = 	 {Gerhard Lakemeyer and Sheila A. McIlraith},
  url = {bai-fri-mci-hecfest11.pdf},
  keywords = {Golog, Planning}
}

@InProceedings{ gil-etal-iui11,
  author = 	 {Yolanda Gil and Varun Ratnakar and Christian Fritz},
  title = 	 {TellMe: Learning Procedures from Tutorial Instruction},
  booktitle = {Proceedings of the 2011 International Conference on Intelligent User Interfaces (IUI), February 13-16, 2011, Palo Alto, CA, USA},
  year = 	 2011,
  url = 	 {gil-etal-iui11.pdf},
  keywords = {Workflows}
}

@InProceedings{ fri-gil-iui2011,
  author = 	 {Christian Fritz and Yolanda Gil},
  title = 	 {A Formal Framework for Combining Natural Instruction and Demonstration for End-User Programming},
  booktitle = {Proceedings of the 2011 International Conference on Intelligent User Interfaces (IUI), February 13-16, 2011, Palo Alto, CA, USA},
  year = 	 2011,
  bibbase_note = {<span style="color: green">Nominated for Best Paper Award.</span>},
  url = 	 {fri-gil-iui11.pdf},
  keywords = {Programming by Demonstration, Golog}
}

@Article{ bie-fri-mci-aij11,
  author    = {Meghyn Bienvenu and
               Christian Fritz and
               Sheila A. McIlraith},
  title     = {Specifying and computing preferred plans},
  journal = 	 {Artificial Intelligence},
  volume    = {175},
  number    = {7-8},
  year      = {2011},
  pages     = {1308-1345},
  ee        = {http://dx.doi.org/10.1016/j.artint.2010.11.021},
  bibsource = {DBLP, http://dblp.uni-trier.de},
  keywords = {Planning with Preferences}
}

@InProceedings{ xin-etal-iswc2010,
  author = 	 {Reynold S. Xin and Oktie Hassanzadeh and Christian Fritz and Shirin Sohrabi and Yang Yang and Jiang Du and Minghua Zhao and Ren\'ee J. Miller },
  title = 	 {Publishing Bibliographic Data on the Semantic Web using BibBase},
  booktitle = {Proceedings of The 9th International Semantic Web Conference, Shanghai, China, November 7--11, Poster \& Demo Track},
  year = 	 2010,
  url = {http://sunsite.informatik.rwth-aachen.de/Publications/CEUR-WS/Vol-658/paper457.pdf},
  keywords = {BibBase}
}

@InProceedings{ bibbase-isem10,
  author = 	 {Oktie Hassanzadeh and Reynold Xin and Christian Fritz and Yang Yang and Jiang Du and Minghua Zhao and Ren'ee J. Miller},
  title = 	 {BibBase Triplified},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = {Proceedings of the 6th International Conference on Semantic Systems, September 1--3, 2010, Graz, Austria},
  OPTpages = 	 {},
  year = 	 {2010},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  bibbase_note = 	 {Triplification Challenge Contestant. <span style="color: green">Honorary Mention</span> in the Open Track.},
  OPTannote = 	 {},
  keywords = {BibBase},
  url = {http://data.bibbase.org},
  urlPaper = {has-etal-isem2010.pdf}
}

@InProceedings{ fri-gil-aaai10ws,
  author = 	 {Christian Fritz and Yolanda Gil},
  title = 	 {Towards the Integration of Programming by Demonstration and Programming by Instruction using Golog},
  booktitle = {AAAI Workshop on Plan, Activity, and Intent Recognition (PAIR) 2010},
  year = 	 2010,
  urlPaper = {fri-gil-aaai10ws_techreport.pdf},
  keywords = {Golog, Programming by Demonstration},
  note = {The version found here is the extended version including the proofs.}
}

@InProceedings{ gil-fri-aaai10ss,
  author = 	 {Yolanda Gil and Christian Fritz},
  title = 	 {Reasoning about the Appropriate Use of Private Data through Computational Workflows},
  booktitle = {Intelligent Information Privacy Management, Papers from the AAAI Spring Symposium},
  pages = 	 {69--74},
  year = 	 2010,
  month = 	 {March},
  url = {gil-fri-aaai10ss.pdf},
  keywords = {Workflows}
}

@inproceedings{ expressivereusableworkflowtemplates,
  url = { gil-etal-escience09.pdf },
  booktitle = {Proceedings of the Fifth IEEE International Conference on e-Science, Oxford, UK, December 9-11},
  year = {2009},
  author = {Yolanda Gil and Paul Groth and Varun Ratnakar and Christian Fritz},
  title = {Expressive Reusable Workflow Templates},
  keywords = {Workflows}
}

@InProceedings{ fri-mci-icaps09,
  author = 	 {Christian Fritz and Sheila McIlraith},
  title = 	 {Computing Robust Plans in Continuous Domains},
  booktitle =	 {Proceedings of the 19th International Conference on
Automated Planning and Scheduling (ICAPS), September 19-23, 2009, Thessaloniki, Greece},
  year =	 2009,
  pages = {346--349},
  urlPaper = {fri-mci-icaps09.pdf},
  keywords = {Planning}
}

@InProceedings{ fri-mci-uai09,
  author = 	 {Christian Fritz and Sheila A. McIlraith},
  title = 	 {Generating Optimal Plans in Highly-Dynamic Domains},
  booktitle = {Proceedings of The 25th Conference on Uncertainty in Artificial Intelligence (UAI), Montreal, Canada, June 18-21},
  year =	 2009,
  urlPaper= {fri-mci-uai09.pdf},
  keywords = {Planning}
}

@PhdThesis{ fri-phd09,
  author = 	 {Christian Fritz},
  title = 	 {Monitoring the Generation and Execution of Optimal Plans},
  school = 	 {University of Toronto},
  year = 	 2009,
  month =	 {April},
  urlPaper= {Fritz_Christian_W_200906_PhD_thesis.pdf},
  urlWeb = {http://hdl.handle.net/1807/17763},
  abstract = {
<p>
In dynamic domains, the state of the world may change in
unexpected ways during the generation or execution of plans.
Regardless of the cause of such changes, they raise the question
of whether they interfere with ongoing planning efforts.
Unexpected changes during plan generation may invalidate the
current planning effort, while discrepancies between expected and
actual state of the world during execution may render the
executing plan invalid or sub-optimal, with respect to previously
identified planning objectives.
</p><p>
In this thesis we develop a general monitoring technique that can
be used during both plan generation and plan execution to
determine the relevance of unexpected changes and which supports
recovery. This way, time intensive replanning from scratch in the
new and unexpected state can often be avoided.
The technique can be applied to a variety of objectives,
including monitoring the optimality of plans, rather then just
their validity.
Intuitively, the technique operates in two steps: during planning
the plan is annotated with additional information that is
relevant to the achievement of the objective; then, when an
unexpected change occurs, this information is used to determine
the relevance of the discrepancy with respect to the objective.
</p><p>
We substantiate the claim of broad applicability of this
relevance-based technique by developing four concrete
applications:
generating optimal plans despite frequent, unexpected changes to
the initial state of the world, monitoring plan optimality during
execution, monitoring the execution of near-optimal policies in
stochastic domains, and monitoring the generation and execution
of plans with procedural hard constraints.
In all cases, we use the formal notion of regression to identify
what is relevant for achieving the objective. 
e prove the soundness of these concrete approaches and present
empirical results demonstrating that in some contexts orders of
magnitude speed-ups can be gained by our technique compared to
replanning from scratch.
</p>
},
  bibbase_note = {<span style="color: green">Best Thesis Runner-Up Award at ICAPS 2010.</span>},
  keywords = {Execution Monitoring}
}

In dynamic domains, the state of the world may change in unexpected ways during the generation or execution of plans. Regardless of the cause of such changes, they raise the question of whether they interfere with ongoing planning efforts. Unexpected changes during plan generation may invalidate the current planning effort, while discrepancies between expected and actual state of the world during execution may render the executing plan invalid or sub-optimal, with respect to previously identified planning objectives.

In this thesis we develop a general monitoring technique that can be used during both plan generation and plan execution to determine the relevance of unexpected changes and which supports recovery. This way, time intensive replanning from scratch in the new and unexpected state can often be avoided. The technique can be applied to a variety of objectives, including monitoring the optimality of plans, rather then just their validity. Intuitively, the technique operates in two steps: during planning the plan is annotated with additional information that is relevant to the achievement of the objective; then, when an unexpected change occurs, this information is used to determine the relevance of the discrepancy with respect to the objective.

We substantiate the claim of broad applicability of this relevance-based technique by developing four concrete applications: generating optimal plans despite frequent, unexpected changes to the initial state of the world, monitoring plan optimality during execution, monitoring the execution of near-optimal policies in stochastic domains, and monitoring the generation and execution of plans with procedural hard constraints. In all cases, we use the formal notion of regression to identify what is relevant for achieving the objective. e prove the soundness of these concrete approaches and present empirical results demonstrating that in some contexts orders of magnitude speed-ups can be gained by our technique compared to replanning from scratch.

@InProceedings{ fri-hull-su-icdt09,
  author = 	 {Christian Fritz and Rick Hull and Jianwen Su},
  title = 	 {Automatic Construction of Simple Artifact-based Business Processes},
  booktitle =	 {Proceedings of the 12th International Conference on Database Theory (ICDT), St. Petersburg, Russia, March 23-25, 2009},
  year =	 2009,
  pages     = {225-238},
  urlPaper= {fri-hull-su-icdt09.pdf},
  keywords = {Workflows}
}

@InProceedings{fri-bai-mci-kr08,
  author = 	 {Christian Fritz and Jorge A. Baier and Sheila A. McIlraith},
  title = 	 {Con{G}olog, {S}in {T}rans: Compiling {ConGolog} into Basic Action Theories for Planning and Beyond},
  booktitle =	 {Proceedings on the 11th International Conference on Principles of Knowledge Representation and Reasoning},
  year =	 2008,
  urlPaper= {fri-bai-mci-kr08.pdf},
  address =	 {Sydney, Australia},
  month =	 {September 16--19},
  pages =	 {600--610},
  note = {Technical Report CSRG-576, containing the proofs of the theorems and a more detailed description of the compilation, can be found <a href="ftp://ftp.cs.toronto.edu/csrg-technical-reports/576/fri-bai-mci-kr08-techreport.pdf">here</a>.},
  keywords = {Golog}
}

@InProceedings{ fri-mci-icaps08,
  author = 	 {Christian Fritz and Sheila A. McIlraith},
  title = 	 {Planning in the Face of Frequent Exogenous Events},
  booktitle = {Online Poster Proceedings of the 18th International Conference on Automated Planning and Scheduling (ICAPS)},
  note = {Also appeared in <i>Proceedings of The 1st International Symposium on Search Techniques in Artificial Intelligence and Robotics (at AAAI08)</i>, July 13--14, Chicago, IL, USA.},
  year =	 2008,
  urlPaper= {fri-mci-icaps08.pdf},
  month = {September 14--18},
  address = {Sydney, Australia},
  keywords = {Planning}
}

@InProceedings{fri-aaai08,
  author = 	 {Christian Fritz},
  title = 	 {Finding State Similarities for Faster Planning},
  booktitle =	 {Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI)},
  year =	 2008,
  urlPaper= {fri-aaai08.pdf},
  address =	 {Chicago, Illinois, USA},
  month =	 {July 13--17},
  pages =	 {925--930},
  keywords = {Planning}
}

@InProceedings{ bai-fri-bie-mci-aaai08nectar,
  author = 	 {Jorge A. Baier and Christian Fritz and Meghyn Bienvenu and Sheila McIlraith},
  title = 	 {Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners},
  booktitle =	 {Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI), Nectar Track},
  year =	 2008,
  urlPaper= {bai-fri-bie-mci-aaai08nectar.pdf},
  address =	 {Chicago, Illinois, USA},
  month =	 {July 13--17},
  pages =	 {1509--1512},
  keywords = {Golog}
}

@InProceedings{ fri-mci-icaps07,
  author = 	 {Christian Fritz and Sheila A. McIlraith},
  title = 	 {Monitoring Plan Optimality During Execution},
  booktitle = {Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS)},
  year = 	 2007,
  urlPaper= {fri-mci-icaps07.pdf},
  address = 	 {Providence, Rhode Island, USA},
  month = 	 {September 22 - 26},
  pages = {144--151},
  keywords = {Execution Monitoring}
}

@InProceedings{ bai-fri-mci-icaps07,
  author = 	 {Jorge A. Baier and Christian Fritz and Sheila A. McIlraith},
  title = 	 {Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners},
  booktitle = {Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS)},
  year = 	 2007,
  urlPaper= {bai-fri-mci-icaps07.pdf},
  address = 	 {Providence, Rhode Island, USA},
  month = 	 {September 22--26},
  pages = {26--33},
  OPTnote = { <i>The proofs of the included theorems can be found in <a href="ftp://ftp.cs.toronto.edu/csrg-technical-reports/565/565.pdf">Technical Report CSRG-565</a>.</i>},
  abstract = {Domain control knowledge (DCK) has proven effective in improving
the efficiency of plan generation by reducing the search space
for a plan. Procedural DCK is a compelling type of DCK that
supports a natural specification of the skeleton of a plan.
Unfortunately, most state-of-the-art planners do not have the
machinery necessary to exploit procedural DCK. To resolve this
deficiency, we propose to compile procedural DCK directly into
PDDL2.1, thus enabling any PDDL2.1-compatible planner to exploit
it. The contribution of this paper is threefold. First, we
propose a PDDL-based semantics for an Algol-like, procedural
language that can be used to specify DCK in planning. Second, we
provide a polynomial algorithm that translates an ADL planning
instance and a DCK program, into an equivalent, program-free
PDDL2.1 instance whose plans are only those that adhere to the
program. Third, we argue that the resulting planning instance is
well-suited to being solved by domain-independent heuristic
planners. To this end, we propose three approaches to computing
domain-independent heuristics for our translated instances,
sometimes leveraging properties of our translation to guide
search. In our experiments on familiar PDDL planning benchmarks
we show that the proposed compilation of procedural DCK can
significantly speed up the performance of a heuristic search
planner. Our translators are implemented and available on the
web.
},
  keywords = {Golog}
}

Domain control knowledge (DCK) has proven effective in improving the efficiency of plan generation by reducing the search space for a plan. Procedural DCK is a compelling type of DCK that supports a natural specification of the skeleton of a plan. Unfortunately, most state-of-the-art planners do not have the machinery necessary to exploit procedural DCK. To resolve this deficiency, we propose to compile procedural DCK directly into PDDL2.1, thus enabling any PDDL2.1-compatible planner to exploit it. The contribution of this paper is threefold. First, we propose a PDDL-based semantics for an Algol-like, procedural language that can be used to specify DCK in planning. Second, we provide a polynomial algorithm that translates an ADL planning instance and a DCK program, into an equivalent, program-free PDDL2.1 instance whose plans are only those that adhere to the program. Third, we argue that the resulting planning instance is well-suited to being solved by domain-independent heuristic planners. To this end, we propose three approaches to computing domain-independent heuristics for our translated instances, sometimes leveraging properties of our translation to guide search. In our experiments on familiar PDDL planning benchmarks we show that the proposed compilation of procedural DCK can significantly speed up the performance of a heuristic search planner. Our translators are implemented and available on the web.

@InProceedings{ fri-icaps07DC,
  author = 	 {Christian Fritz},
  title = 	 {Monitoring the Execution of Optimal Plans},
  booktitle = {The 17th International Conference on Automated Planning and Scheduling (ICAPS) Doctoral Consortium},
  year = 	 2007,
  urlPaper= {fri-icaps07DC.pdf},
  address = 	 {Providence, Rhode Island, USA},
  month = 	 {September 22},
  note = {<b>Best Paper</b>},
  keywords = {Execution Monitoring}
}

@InProceedings{fri-mci-icaps07ws,
  author = 	 {Christian Fritz and Sheila A. McIlraith},
  title = 	 {Monitoring Policy Execution},
  booktitle =	 {Proceedings of the 3rd Workshop on Planning and Plan Execution for Real-World Systems (at ICAPS07)},
  year =	 2007,
  urlPaper= {fri-mci-icaps07WS.pdf},
  address =	 {Providence, Rhode Island, USA},
  month =	 {September 22},
  keywords = {Execution Monitoring}
}

@InProceedings{ fri-mci-dx07.pdf_200705141423,
 AUTHOR={Christian Fritz and Sheila McIlraith},
 TITLE={Monitoring Plan Optimality during Execution: Theory and Implementation},
 BOOKTITLE={Proceedings of the 18th International Workshop on Principles of Diagnosis (DX)},
 YEAR={2007},
 address={Nashville, TN, USA},
 month={May 29--31},
 pages={298--305},
 URLPaper={200705141423_fri-mci-dx07.pdf},
 keywords = {Execution Monitoring}
}

@InProceedings{ KR0603FritzC.pdf_200603061828,
   AUTHOR={Christian Fritz and Sheila McIlraith},
   TITLE={Decision-Theoretic {Golog} with Qualitative Preferences},
   BOOKTITLE={Proceedings of the 10th International Conference on Principles of Knowledge Representation and Reasoning (KR)},
   address={Lake District, UK}, 
   month={June 2--5},
   YEAR={2006},
   pages     = {153-163},
   URLPaper={200603061828_KR0603FritzC.pdf},
  keywords = {Golog, Planning with Preferences}
   }
         
 

@InProceedings{ KR06BienvenuM.pdf_200603101347,
  AUTHOR={Meghyn Bienvenu and Christian Fritz and Sheila A. McIlraith},
  TITLE={Planning with Qualitative Temporal Preferences},
  BOOKTITLE={Proceedings of the 10th International Conference on Principles of Knowledge Representation and Reasoning (KR)}, 
  address={Lake District, UK},
  month={June 2--5},
  YEAR={2006},
  pages = {134-144},
  URLPaper={200603101347_KR06BienvenuM.pdf},
  keywords = {Planning with Preferences}
  }

@unpublished{ depth_oral,
  author = 	 {Christian Fritz},
  title = 	 {Execution Monitoring -- A Survey},
  institution =  {University of Toronto},
  year = 	 2005,
  urlPaper= {depth_oral.pdf},
  keywords = {Execution Monitoring}
}
     

@TechReport{ extended_200507311452,
  author = 	 {Christian Fritz and Sheila McIlraith},
  title = 	 {Compiling Qualitative Preferences into Decision-Theoretic {Golog} Programs: Extended Version with Proofs},
  institution =  {University of Toronto},
  year = 	 2005,
  urlPaper= {200507311452_extended.pdf},
  number = 	 {CSRG-522},
  month = 	 {May},
 URLPaper={200507311452_extended.pdf},
  keywords = {Golog, Planning with Preferences}
}

@InProceedings{ fri-mci-nrac05f.pdf_200506061537,
  AUTHOR={Christian Fritz and Sheila McIlraith},
  TITLE={Compiling Qualitative Preferences into Decision-Theoretic {Golog} Programs},
  BOOKTITLE={Proceedings of The 6th Workshop on Nonmonotonic Reasoning, Action, and Change (at IJCAI05)}, 
  MONTH={August 1},
  ADDRESS={Edinburgh, UK},
  YEAR={2005},
  URLPaper={200506061537_fri-mci-nrac05f.pdf},
  keywords = {Golog, Planning with Preferences}
  }

@Article{ Ferrein2005Using.pdf_200506061855,
  author    = {Alexander Ferrein and
               Christian Fritz and
               Gerhard Lakemeyer},
  title     = {Using Golog for Deliberation and Team Coordination in Robotic
               Soccer},
  journal   = {KI},
  volume    = {19},
  number    = {1},
  year      = {2005},
  urlPaper= {200506061855_Ferrein2005Using.pdf},
  pages     = {24-31},
  keywords = {Golog, RoboCup}
} 

        

@InProceedings{ fer-fri-lak-ki04,
  AUTHOR={A. Ferrein and C. Fritz and G. Lakemeyer},
  TITLE={On-line Decision-Theoretic {Golog} for Unpredictable Domains},
  BOOKTITLE = {Proceedings of 27th German Conference on AI (KI)}, 
  pages={322--336}, 
  address={Ulm, Germany}, 
  month={September 20--24},
  YEAR={2004},
  URLPaper={200506061854_Ferrein2004OnlineCogRob.pdf},
  keywords = {Golog, RoboCup},
  note = {Also appeared at The 4th International Cognitive Robotics Workshop (at ECAI04), August 23--24, Valencia, Spain.}
}

@InProceedings{ allemaniacs2004tdp.pdf_200506061857,
AUTHOR={A. Ferrein and C. Fritz and G. Lakemeyer},
TITLE={AllemaniACs 2004 Team Description},
BOOKTITLE={RoboCup},
ADDRESS={Lisbon, Portugal},
YEAR={2004},
URLPaper={200506061857_allemaniacs2004tdp.pdf},
keywords = {RoboCup}
}

@MastersThesis{ Fritz2003Integrating.pdf_200506061853,
 AUTHOR={Christian Fritz},
 TITLE={Integrating decision-theoretic planning and programming for robot control in highly dynamic domains},
 SCHOOL={RWTH Aachen University, Germany},
 MONTH={November},
 YEAR={2003},
 URLPaper={200506061853_Fritz2003Integrating.pdf},
  keywords = {Golog, RoboCup}
}

        

@InProceedings{ ferrein03extending.pdf_200506061851,
  AUTHOR={Alexander Ferrein and Christian Fritz and Gerhard Lakemeyer},
  TITLE={Extending {DTGolog} with Options},
  BOOKTITLE = {Proceedings of the 18th International Joint Conference on Artificial Intelligence (IJCAI)},
  pages={1394--1395},
  address={Acapulco, Mexico},
  month={August 9--15},
  YEAR={2003},
  URLPaper={200506061851_ferrein03extending.pdf},
  keywords = {Golog}
}