@inproceedings{Cardoso23a,
author = {Al Shukairi, Hilal and Cardoso, Rafael C.},
title = {ML-MAS: A Hybrid AI Framework for Self-Driving Vehicles},
year = {2023},
isbn = {9781450394321},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
abstract = {Machine Learning (ML) techniques have been shown to be widely successful in environments that require processing a large amount of perception data, such as in fully autonomous self-driving vehicles. Nevertheless, in such a complex domain, ML-only approaches have several limitations. In this paper, we propose a hybrid Artificial Intelligence (AI) framework for fully autonomous self-driving vehicles that uses rule-based agents from symbolic AI to supplement the ML models in their decision-making. Our framework is evaluated using routes from the CARLA simulation environment, and has been shown to improve the driving score of the ML models.},
booktitle = {Proceedings of the 2023 International Conference on Autonomous Agents and Multiagent Systems},
pages = {1191–1199},
numpages = {9},
url          = {https://dl.acm.org/doi/10.5555/3545946.3598762},
doi          = {10.5555/3545946.3598762},
keywords = {hybrid AI, BDI agents, CARLA, self-driving vehicles, deep learning},
location = {London, United Kingdom},
series = {AAMAS '23}
}

Machine Learning (ML) techniques have been shown to be widely successful in environments that require processing a large amount of perception data, such as in fully autonomous self-driving vehicles. Nevertheless, in such a complex domain, ML-only approaches have several limitations. In this paper, we propose a hybrid Artificial Intelligence (AI) framework for fully autonomous self-driving vehicles that uses rule-based agents from symbolic AI to supplement the ML models in their decision-making. Our framework is evaluated using routes from the CARLA simulation environment, and has been shown to improve the driving score of the ML models.

@inproceedings{Stringer23a,
author = {Stringer, Peter and Cardoso, Rafael C. and Dixon, Clare and Fisher, Michael and Dennis, Louise A.},
title = {Updating Action Descriptions and Plans for Cognitive Agents},
year = {2023},
isbn = {9781450394321},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
abstract = {In this paper, we present an extension of Belief-Desire-Intention agents which can adapt their performance in response to changes in their environment. Our main contributions are the underlying theoretical mechanisms for data collection about action performance, the synthesis of new action descriptions from this data, the integration with plan reconfiguration, and a practical implementation to validate the semantics.},
booktitle = {Proceedings of the 2023 International Conference on Autonomous Agents and Multiagent Systems},
pages = {2370–2372},
numpages = {3},
url          = {https://dl.acm.org/doi/10.5555/3545946.3598937},
doi          = {10.5555/3545946.3598937},
keywords = {action descriptions, beliefs-desires-intentions, ai planning},
location = {London, United Kingdom},
series = {AAMAS '23}
}

In this paper, we present an extension of Belief-Desire-Intention agents which can adapt their performance in response to changes in their environment. Our main contributions are the underlying theoretical mechanisms for data collection about action performance, the synthesis of new action descriptions from this data, the integration with plan reconfiguration, and a practical implementation to validate the semantics.

@inproceedings{Stringer23b,
author = {Stringer, Peter and Cardoso, Rafael C. and Dixon, Clare and Fisher, Michael and Dennis, Louise A.},
title = {Adaptive Cognitive Agents: Updating Action Descriptions and Plans},
year = {2023},
booktitle = {Proceedings of the 2023 European Conference of Multi-Agents Systems},
location = {Naples, Italy},
series = {EUMAS '23}
}

@inproceedings{Becker23a,
author = {Leandro Buss Becker, Anthony Downs, Craig Schlenoff, Justin Albrecht, Zeid Kootbally, Angelo Ferrando, Rafael C. Cardoso, Michael Fisher},
title = {Using a BDI Agent to Represent a Human on the Factory Floor of the ARIAC 2023 Industrial Automation Competition},
year = {2023},
booktitle = {Proceedings of the 2023 European Conference of Multi-Agents Systems},
location = {Naples, Italy},
series = {EUMAS '23}
}

@inproceedings{FerrandoShield2,
author = {Ferrando, Angelo and Cardoso, Rafael C.},
title = {Failure Handling in BDI Plans via Runtime Enforcement},
year = {2023},
booktitle = {Proceedings of the 26th European Conference on Artificial Intelligence},
location = {Krakow, Poland},
series = {ECAI '23}
}

@inproceedings{Luckcuck21a,
author="Luckcuck, Matt
and Cardoso, Rafael C.",
editor="Alechina, Natasha
and Baldoni, Matteo
and Logan, Brian",
title="Formal Verification of a Map Merging Protocol in the Multi-agent Programming Contest",
booktitle="Engineering Multi-Agent Systems",
year="2022",
publisher="Springer International Publishing",
address="Cham",
pages="198--217",
abstract="Communication is a critical part of enabling multi-agent systems to cooperate. This means that applying formal methods to protocols governing communication within multi-agent systems provides useful confidence in its reliability. In this paper, we describe the formal verification of a complex communication protocol that coordinates agents merging maps of their environment. The protocol was used by the LFC team in the 2019 edition of the Multi-Agent Programming Contest (MAPC). Our specification of the protocol is written in Communicating Sequential Processes (CSP), which is a well-suited approach to specifying agent communication protocols due to its focus on concurrent communicating systems. We validate the specification's behaviour using scenarios where the correct behaviour is known, and verify that eventually all the maps have merged.",
doi="10.1007/978-3-030-97457-2_12",
isbn="978-3-030-97457-2"
}

Communication is a critical part of enabling multi-agent systems to cooperate. This means that applying formal methods to protocols governing communication within multi-agent systems provides useful confidence in its reliability. In this paper, we describe the formal verification of a complex communication protocol that coordinates agents merging maps of their environment. The protocol was used by the LFC team in the 2019 edition of the Multi-Agent Programming Contest (MAPC). Our specification of the protocol is written in Communicating Sequential Processes (CSP), which is a well-suited approach to specifying agent communication protocols due to its focus on concurrent communicating systems. We validate the specification's behaviour using scenarios where the correct behaviour is known, and verify that eventually all the maps have merged.

@inproceedings{Stringer21a,
author="Stringer, Peter
and Cardoso, Rafael C.
and Dixon, Clare
and Dennis, Louise A.",
editor="Alechina, Natasha
and Baldoni, Matteo
and Logan, Brian",
title="Implementing Durative Actions with Failure Detection in Gwendolen",
booktitle="Engineering Multi-Agent Systems",
year="2022",
publisher="Springer International Publishing",
address="Cham",
pages="332--351",
abstract="We present an extension of the semantics for action execution in the Gwendolen BDI programming language. This extension firstly explicitly assumes that actions have durations and, moreover, that the reasoning cycle of the agent can not be stopped while such an action is executing but needs to continue in order to monitor for important external events. Secondly, the extension assumes that actions may often fail and this needs to be detected. This forms part of a larger project to develop a framework plan/action adaptation within BDI agents in order to enable long-term autonomy. We have implemented the extension and demonstrate its operation in a simple case study.",
doi={10.1007/978-3-030-97457-2_19},
isbn="978-3-030-97457-2"
}

We present an extension of the semantics for action execution in the Gwendolen BDI programming language. This extension firstly explicitly assumes that actions have durations and, moreover, that the reasoning cycle of the agent can not be stopped while such an action is executing but needs to continue in order to monitor for important external events. Secondly, the extension assumes that actions may often fail and this needs to be detected. This forms part of a larger project to develop a framework plan/action adaptation within BDI agents in order to enable long-term autonomy. We have implemented the extension and demonstrate its operation in a simple case study.

@inproceedings{Cardoso21c,
author="Cardoso, Rafael C.
and Ferrando, Angelo
and Dennis, Louise A.
and Fisher, Michael",
editor="Alechina, Natasha
and Baldoni, Matteo
and Logan, Brian",
title="Implementing Ethical Governors in BDI",
booktitle="Engineering Multi-Agent Systems",
year="2022",
publisher="Springer International Publishing",
address="Cham",
pages="22--41",
abstract="Increasingly, BDI agents are being used not just for basic decision-making, but for more abstract ethical decisions. Several authors have built ad-hoc extensions of BDI systems that provide varying levels of sophistication. In this paper, we introduce a general-purpose approach for implementing ethical governors in BDI systems. With this we aim to provide a broad, flexible and consistent framework for implementing increasingly complex ethical reasoning. Our approach is based on a set of domain-independent abstract agents (evidential reasoner, arbiter and execution agent) that together represent an ethical governor. We discuss the implementation of these abstract agents in the Jason agent programming language and demonstrate how they can be used in practice by instantiating agents in two different case studies, one using utilitarianism and the other deontic logic for reasoning about ethical decisions.",
doi={10.1007/978-3-030-97457-2_2},
isbn="978-3-030-97457-2"
}
      

Increasingly, BDI agents are being used not just for basic decision-making, but for more abstract ethical decisions. Several authors have built ad-hoc extensions of BDI systems that provide varying levels of sophistication. In this paper, we introduce a general-purpose approach for implementing ethical governors in BDI systems. With this we aim to provide a broad, flexible and consistent framework for implementing increasingly complex ethical reasoning. Our approach is based on a set of domain-independent abstract agents (evidential reasoner, arbiter and execution agent) that together represent an ethical governor. We discuss the implementation of these abstract agents in the Jason agent programming language and demonstrate how they can be used in practice by instantiating agents in two different case studies, one using utilitarianism and the other deontic logic for reasoning about ethical decisions.

@inproceedings{cardoso22a,
author={Angelo Ferrando and Rafael Cardoso},
title={RVPLAN: Runtime Verification of Assumptions in Automated Planning},
booktitle={Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2022},
pages={67-77},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010776500003116},
isbn={978-989-758-547-0},
}

@inproceedings{FerrandoShield,
author = {Ferrando, Angelo and Cardoso, Rafael C.},
title = {Safety Shields, an Automated Failure Handling Mechanism for BDI Agents},
year = {2022},
isbn = {9781450392136},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
booktitle = {Proceedings of the 21st International Conference on Autonomous Agents and Multiagent Systems},
pages = {1589–1591},
numpages = {3},
keywords = {failure handling, runtime verification, bdi, multi-agent systems},
location = {Virtual Event, New Zealand},
series = {AAMAS '22},
url = {https://www.ifaamas.org/Proceedings/aamas2022/pdfs/p1589.pdf}
}

@proceedings{AREA2022,
  editor    = {Rafael C. Cardoso and
               Angelo Ferrando and
               Fabio Papacchini and
               Mehrnoosh Askarpour and
               Louise A. Dennis},
  title     = {Proceedings of the Second Workshop on Agents and Robots for reliable
               Engineered Autonomy, AREA@IJCAI-ECAI 2022, Vienna, Austria, 24th July
               2022},
  series    = {{EPTCS}},
  volume    = {362},
  year      = {2022},
  url       = {https://doi.org/10.4204/EPTCS.362},
  doi       = {10.4204/EPTCS.362}
}

@article{Ferrando22,
	author = {Ferrando, Angelo and Cardoso, Rafael C. and Farrell, Marie and Luckcuck, Matt and Papacchini, Fabio and Fisher, Michael and Mascardi, Viviana},
	title = {Bridging the gap between single- and multi-model predictive runtime verification},
	year = {2022},
	issue_date = {May 2021},
	publisher = {Springer},
	url = {https://doi.org/10.1007/s10703-022-00395-7},
	doi = {10.1007/s10703-022-00395-7},
	abstract = {This paper presents an extension of the Predictive Runtime Verification (PRV) paradigm to consider multiple models of the System Under Analysis (SUA). We call this extension Multi-Model PRV. Typically, PRV attempts to predict the satisfaction or violation of a property based on a trace and a (single) formal model of the SUA. However, contemporary node- or component-based systems (e.g. robotic systems) may benefit from monitoring based on a model of each component. We show how a Multi-Model PRV approach can be applied in either a centralised or a compositional way (where the property is compositional), as best suits the SUA. Crucially, our approach is formalism-agnostic. We demonstrate our approach using an illustrative example of a Mars Curiosity rover simulation and evaluate our contribution via a prototype implementation.},
	journal = {Formal Methods in System Design}
     }
     

This paper presents an extension of the Predictive Runtime Verification (PRV) paradigm to consider multiple models of the System Under Analysis (SUA). We call this extension Multi-Model PRV. Typically, PRV attempts to predict the satisfaction or violation of a property based on a trace and a (single) formal model of the SUA. However, contemporary node- or component-based systems (e.g. robotic systems) may benefit from monitoring based on a model of each component. We show how a Multi-Model PRV approach can be applied in either a centralised or a compositional way (where the property is compositional), as best suits the SUA. Crucially, our approach is formalism-agnostic. We demonstrate our approach using an illustrative example of a Mars Curiosity rover simulation and evaluate our contribution via a prototype implementation.

@article{Cardoso22b,
  author = {Cardoso, Rafael C. and Logan, Brian and Meneguzzi, Felipe and Oren, Nir and Yun, Bruno},
  title = {Resilience, reliability, and coordination in autonomous multi-agent systems},
  journal = {AI Communications},
  year = {2022},
  volume = {35},
  number = {4},
  doi = {10.3233/AIC-220136},
}

@Inproceedings{Cardoso22c,
  author    = {Cardoso, Rafael C. and Ferrando, Angelo and Fisher, Michael},
  year      = {2022},
  title     = {Extending Attack-Fault Trees with Runtime Verification},
  editor    = {Luckcuck, Matt and Farrell, Marie},
  booktitle = {{Proceedings Fourth International Workshop on}
               Formal Methods for Autonomous Systems (FMAS) {and Fourth International Workshop on} Automated and verifiable Software sYstem DEvelopment (ASYDE),
               {Berlin, Germany, 26th and 27th of September 2022}},
  series    = {Electronic Proceedings in Theoretical Computer Science},
  volume    = {371},
  publisher = {Open Publishing Association},
  pages     = {193-207},
  doi       = {10.4204/EPTCS.371.14},
}

@article{Cardoso21a, 
title={A Review of Agent-Based Programming for Multi-Agent Systems}, 
volume={10}, 
ISSN={2073-431X}, 
DOI={10.3390/computers10020016}, 
number={2}, 
journal={Computers}, 
publisher={MDPI AG}, 
author={Cardoso, Rafael C. and Ferrando, Angelo}, 
year={2021}, 
month={Jan}, 
pages={16}
}

@article{Ferrando21,
	author = {Ferrando, Angelo and Dennis, Louise A. and Cardoso, Rafael C. and Fisher, Michael and Ancona, Davide and Mascardi, Viviana},
	title = {Toward a Holistic Approach to Verification and Validation of Autonomous Cognitive Systems},
	year = {2021},
	issue_date = {May 2021},
	publisher = {Association for Computing Machinery},
	address = {New York, NY, USA},
	volume = {30},
	number = {4},
	issn = {1049-331X},
	url = {https://doi.org/10.1145/3447246},
	doi = {10.1145/3447246},
	abstract = {When applying formal verification to a system that interacts with the real world, we must use a model of the environment. This model represents an abstraction of the actual environment, so it is necessarily incomplete and hence presents an issue for system verification. If the actual environment matches the model, then the verification is correct; however, if the environment falls outside the abstraction captured by the model, then we cannot guarantee that the system is well behaved. A solution to this problem consists in exploiting the model of the environment used for statically verifying the system’s behaviour and, if the verification succeeds, using it also for validating the model against the real environment via runtime verification. The article discusses this approach and demonstrates its feasibility by presenting its implementation on top of a framework integrating the Agent Java PathFinder model checker. A high-level Domain Specific Language is used to model the environment in a user-friendly way; the latter is then compiled to trace expressions for both static formal verification and runtime verification. To evaluate our approach, we apply it to two different case studies: an autonomous cruise control system and a simulation of the Mars Curiosity rover.},
	journal = {ACM Trans. Softw. Eng. Methodol.},
	month = may,
	articleno = {43},
	numpages = {43},
	keywords = {autonomous systems, model checking, trace expressions, Runtime verification, MCAPL}
     }

When applying formal verification to a system that interacts with the real world, we must use a model of the environment. This model represents an abstraction of the actual environment, so it is necessarily incomplete and hence presents an issue for system verification. If the actual environment matches the model, then the verification is correct; however, if the environment falls outside the abstraction captured by the model, then we cannot guarantee that the system is well behaved. A solution to this problem consists in exploiting the model of the environment used for statically verifying the system’s behaviour and, if the verification succeeds, using it also for validating the model against the real environment via runtime verification. The article discusses this approach and demonstrates its feasibility by presenting its implementation on top of a framework integrating the Agent Java PathFinder model checker. A high-level Domain Specific Language is used to model the environment in a user-friendly way; the latter is then compiled to trace expressions for both static formal verification and runtime verification. To evaluate our approach, we apply it to two different case studies: an autonomous cruise control system and a simulation of the Mars Curiosity rover.

@InProceedings{Cardoso21b, 
title={Agile Tasking of Robotic Systems with Explicit Autonomy},
volume={34},
DOI={10.32473/flairs.v34i1.128481}, 
booktitle={The International FLAIRS Conference Proceedings},
author={Cardoso, Rafael C. and Michaloski, John L. and Schlenoff, Craig and Ferrando, Angelo and Dennis, Louise A. and Fisher, Michael},
year={2021}
}

@article{robotics10020067,
author = {Fisher, Michael and Cardoso, Rafael C. and Collins, Emily C. and Dadswell, Christopher and Dennis, Louise A. and Dixon, Clare and Farrell, Marie and Ferrando, Angelo and Huang, Xiaowei and Jump, Mike and Kourtis, Georgios and Lisitsa, Alexei and Luckcuck, Matt and Luo, Shan and Page, Vincent and Papacchini, Fabio and Webster, Matt},
title = {An Overview of Verification and Validation Challenges for Inspection Robots},
journal = {Robotics},
volume = {10},
year = {2021},
number = {2},
url = {https://www.mdpi.com/2218-6581/10/2/67},
issn = {2218-6581},
abstract = {The advent of sophisticated robotics and AI technology makes sending humans into hazardous and distant environments to carry out inspections increasingly avoidable. Being able to send a robot, rather than a human, into a nuclear facility or deep space is very appealing. However, building these robotic systems is just the start and we still need to carry out a range of verification and validation tasks to ensure that the systems to be deployed are as safe and reliable as possible. Based on our experience across three research and innovation hubs within the UK’s “Robots for a Safer World” programme, we present an overview of the relevant techniques and challenges in this area. As the hubs are active across nuclear, offshore, and space environments, this gives a breadth of issues common to many inspection robots.},
doi = {10.3390/robotics10020067}
}

The advent of sophisticated robotics and AI technology makes sending humans into hazardous and distant environments to carry out inspections increasingly avoidable. Being able to send a robot, rather than a human, into a nuclear facility or deep space is very appealing. However, building these robotic systems is just the start and we still need to carry out a range of verification and validation tasks to ensure that the systems to be deployed are as safe and reliable as possible. Based on our experience across three research and innovation hubs within the UK’s “Robots for a Safer World” programme, we present an overview of the relevant techniques and challenges in this area. As the hubs are active across nuclear, offshore, and space environments, this gives a breadth of issues common to many inspection robots.

@article{cardoso21e,
AUTHOR = {Cardoso, Rafael C. and Ferrando, Angelo and Briola, Daniela and Menghi, Claudio and Ahlbrecht, Tobias},
TITLE = {Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020},
JOURNAL = {Journal of Sensor and Actuator Networks},
VOLUME = {10},
YEAR = {2021},
NUMBER = {2},
ARTICLE-NUMBER = {33},
URL = {https://www.mdpi.com/2224-2708/10/2/33},
ISSN = {2224-2708},
ABSTRACT = {Multi-agent systems, robotics and software engineering are large and active research areas with many applications in academia and industry. The First Workshop on Agents and Robots for reliable Engineered Autonomy (AREA), organised the first time in 2020, aims at encouraging cross-disciplinary collaborations and exchange of ideas among researchers working in these research areas. This paper presents a perspective of the organisers that aims at highlighting the latest research trends, future directions, challenges, and open problems. It also includes feedback from the discussions held during the AREA workshop. The goal of this perspective is to provide a high-level view of current research trends for researchers that aim at working in the intersection of these research areas.},
DOI = {10.3390/jsan10020033}
}

Multi-agent systems, robotics and software engineering are large and active research areas with many applications in academia and industry. The First Workshop on Agents and Robots for reliable Engineered Autonomy (AREA), organised the first time in 2020, aims at encouraging cross-disciplinary collaborations and exchange of ideas among researchers working in these research areas. This paper presents a perspective of the organisers that aims at highlighting the latest research trends, future directions, challenges, and open problems. It also includes feedback from the discussions held during the AREA workshop. The goal of this perspective is to provide a high-level view of current research trends for researchers that aim at working in the intersection of these research areas.

@Article{Cardoso21d,
author={Cardoso, Rafael C.
and Kourtis, Georgios
and Dennis, Louise A.
and Dixon, Clare
and Farrell, Marie
and Fisher, Michael
and Webster, Matt},
title={A Review of Verification and Validation for Space Autonomous Systems},
journal={Current Robotics Reports},
year={2021},
month={Jun},
day={18},
abstract={The deployment of hardware (e.g., robots, satellites, etc.) to space is a costly and complex endeavor. It is of extreme importance that on-board systems are verified and validated through a variety of verification and validation techniques, especially in the case of autonomous systems. In this paper, we discuss a number of approaches from the literature that are relevant or directly applied to the verification and validation of systems in space, with an emphasis on autonomy.},
issn={2662-4087},
doi={10.1007/s43154-021-00058-1},
url={https://doi.org/10.1007/s43154-021-00058-1}
}

The deployment of hardware (e.g., robots, satellites, etc.) to space is a costly and complex endeavor. It is of extreme importance that on-board systems are verified and validated through a variety of verification and validation techniques, especially in the case of autonomous systems. In this paper, we discuss a number of approaches from the literature that are relevant or directly applied to the verification and validation of systems in space, with an emphasis on autonomy.

@inproceedings{FerrandoVortex,
  title={RVPLAN: A General Purpose Framework for Replanning using Runtime Verification},
  author={Ferrando, Angelo and Cardoso, Rafael C.},
  booktitle={Proceedings of the 5th ACM International Workshop on Verification and mOnitoring at Runtime EXecution (VORTEX'21)},
  year={2021}
}

@inproceedings{fisher2021increasing,
  title={Increasing Confidence in Autonomous Systems},
  author={Fisher, Michael and Ferrando, Angelo and Cardoso, Rafael C.},
  booktitle={Proceedings of the 5th ACM International Workshop on Verification and mOnitoring at Runtime EXecution (VORTEX'21)},
  year={2021}
}

@inproceedings{JohnIMECE,
  title={Agile Tasking of Robotic Kitting},
  author={Michaloski, John and Aksu, Murat and Schlenoff, Craig and Cardoso, Rafael C. and Fisher, Michael},
  booktitle={Proceedings of the ASME 2021 International Mechanical Engineering Congress and Exposition (IMECE2021)},
  year={2021}
}

@inproceedings{Cardoso21e,
	author="Cardoso, Rafael C.
	and Ferrando, Angelo
	and Papacchini, Fabio",
	editor="Dignum, Frank
	and Corchado, Juan Manuel
	and De La Prieta, Fernando",
	title="Automated Planning and BDI Agents: A Case Study",
	booktitle="Advances in Practical Applications of Agents, Multi-Agent Systems, and Social Good. The PAAMS Collection",
	year="2021",
	publisher="Springer International Publishing",
	address="Cham",
	pages="52--63",
	abstract="There have been many attempts to integrate automated planning and rational agents. Most of the research focuses on adding support directly within agent programming languages, such as those based on the Belief-Desire-Intention model, rather than using off-the-shelf planners. This approach is often believed to improve the computation time, which is a common requirement in real world applications. This paper shows that even in complex scenarios, such as in the Multi-Agent Programming Contest with 50 agents and a 4 s deadline for the agents to send actions to the server, it is possible to efficiently integrate agent languages with off-the-shelf automated planners. Based on the experience with this case study, the paper discusses advantages and disadvantages of decoupling the agents from the planners.",
	isbn="978-3-030-85739-4",
	doi={10.1007/978-3-030-85739-4_5}
}

There have been many attempts to integrate automated planning and rational agents. Most of the research focuses on adding support directly within agent programming languages, such as those based on the Belief-Desire-Intention model, rather than using off-the-shelf planners. This approach is often believed to improve the computation time, which is a common requirement in real world applications. This paper shows that even in complex scenarios, such as in the Multi-Agent Programming Contest with 50 agents and a 4 s deadline for the agents to send actions to the server, it is possible to efficiently integrate agent languages with off-the-shelf automated planners. Based on the experience with this case study, the paper discusses advantages and disadvantages of decoupling the agents from the planners.

@Article{areaeditorial,
AUTHOR = {Cardoso, Rafael C. and Ferrando, Angelo and Briola, Daniela and Menghi, Claudio and Ahlbrecht, Tobias},
TITLE = {Special Issue: Agents and Robots for Reliable Engineered Autonomy},
JOURNAL = {Journal of Sensor and Actuator Networks},
VOLUME = {10},
YEAR = {2021},
NUMBER = {3},
ARTICLE-NUMBER = {47},
URL = {https://www.mdpi.com/2224-2708/10/3/47},
ISSN = {2224-2708},
ABSTRACT = {The study of autonomous agents is a well-established area that has been researched for decades, both from a design and implementation viewpoint [...]},
DOI = {10.3390/jsan10030047}
}

The study of autonomous agents is a well-established area that has been researched for decades, both from a design and implementation viewpoint [...]

@inproceedings{FerrandoFMAS,
  author    = {Ferrando, Angelo and Cardoso, Rafael C.},
  year      = {2021},
  title     = {Towards Partial Monitoring: It is Always too Soon to Give Up},
  editor    = {Farrell, Marie and Luckcuck, Matt},
  booktitle = {{\rm Proceedings Third Workshop on}
               Formal Methods for Autonomous Systems,
               {\rm Virtual, 21st-22nd of October 2021}},
  series    = {Electronic Proceedings in Theoretical Computer Science},
  volume    = {348},
  publisher = {Open Publishing Association},
  pages     = {38-53},
  doi       = {10.4204/EPTCS.348.3},
}

@InProceedings{Cardoso21f,
author="Cardoso, Rafael C.
and Ferrando, Angelo
and Papacchini, Fabio
and Luckcuck, Matt
and Linker, Sven
and Payne, Terry R.",
editor="Ahlbrecht, Tobias
and Dix, J{\"u}rgen
and Fiekas, Niklas
and Krausburg, Tabajara",
title="MLFC: From 10 to 50 Planners in the Multi-Agent Programming Contest",
booktitle="The Multi-Agent Programming Contest 2021",
year="2021",
publisher="Springer International Publishing",
address="Cham",
pages="82--107",
abstract="In this paper, we describe the strategies used by our team, MLFC, that led us to achieve the 2nd place in the 15th edition of the Multi-Agent Programming Contest. The scenario used in the contest is an extension of the previous edition (14th) ``Agents Assemble'' wherein two teams of agents move around a 2D grid and compete to assemble complex block structures. We discuss the languages and tools used during the development of our team. Then, we summarise the main strategies that were carried over from our previous participation in the 14th edition and list the limitations (if any) of using these strategies in the latest contest edition. We also developed new strategies that were made specifically for the extended scenario: cartography (determining the size of the map); formal verification of the map merging protocol (to provide assurances that it works when increasing the number of agents); plan cache (efficiently scaling the number of planners); task achievement (forming groups of agents to achieve tasks); and bullies (agents that focus on stopping agents from the opposing team). Finally, we give a brief overview of our performance in the contest and discuss what we believe were our shortcomings.",
isbn="978-3-030-88549-6",
doi="10.1007/978-3-030-88549-6_4"
}

In this paper, we describe the strategies used by our team, MLFC, that led us to achieve the 2nd place in the 15th edition of the Multi-Agent Programming Contest. The scenario used in the contest is an extension of the previous edition (14th) ``Agents Assemble'' wherein two teams of agents move around a 2D grid and compete to assemble complex block structures. We discuss the languages and tools used during the development of our team. Then, we summarise the main strategies that were carried over from our previous participation in the 14th edition and list the limitations (if any) of using these strategies in the latest contest edition. We also developed new strategies that were made specifically for the extended scenario: cartography (determining the size of the map); formal verification of the map merging protocol (to provide assurances that it works when increasing the number of agents); plan cache (efficiently scaling the number of planners); task achievement (forming groups of agents to achieve tasks); and bullies (agents that focus on stopping agents from the opposing team). Finally, we give a brief overview of our performance in the contest and discuss what we believe were our shortcomings.

@inproceedings{Cardoso19EMAS,
author="Cardoso, Rafael C.
and Dennis, Louise A.
and Fisher, Michael",
editor="Dennis, Louise A.
and Bordini, Rafael H.
and Lesp{\'e}rance, Yves",
title="Plan Library Reconfigurability in BDI Agents",
booktitle="Engineering Multi-Agent Systems",
year="2020",
publisher="Springer International Publishing",
address="Cham",
pages="195--212",
abstract="One of the major advantages of modular architectures in robotic systems is the ability to add or replace nodes, without needing to rearrange the whole system. In this type of system, autonomous agents can aid in the decision making and high-level control of the robot. For example, a robot may have a module for each of the effectors and sensors that it has and an agent with a plan library containing high-level plans to aid in the decision making within these modules. However, when autonomously replacing a node it can be difficult to reconfigure plans in the agent's plan library while retaining correctness. In this paper, we exploit the formal concept of capabilities in Belief-Desire-Intention agents and describe how agents can reason about these capabilities in order to reconfigure their plan library while retaining overall correctness constraints. To validate our approach, we show the implementation of our framework and an experiment using a practical example in the Mars rover scenario.",
isbn="978-3-030-51417-4",
doi="10.1007/978-3-030-51417-4_10"
}

One of the major advantages of modular architectures in robotic systems is the ability to add or replace nodes, without needing to rearrange the whole system. In this type of system, autonomous agents can aid in the decision making and high-level control of the robot. For example, a robot may have a module for each of the effectors and sensors that it has and an agent with a plan library containing high-level plans to aid in the decision making within these modules. However, when autonomously replacing a node it can be difficult to reconfigure plans in the agent's plan library while retaining correctness. In this paper, we exploit the formal concept of capabilities in Belief-Desire-Intention agents and describe how agents can reason about these capabilities in order to reconfigure their plan library while retaining overall correctness constraints. To validate our approach, we show the implementation of our framework and an experiment using a practical example in the Mars rover scenario.

@inproceedings{Cardoso20b,
  author="Cardoso, Rafael C.
and Ferrando, Angelo
and Dennis, Louise A.
and Fisher, Michael",
editor="Bassiliades, Nick
and Chalkiadakis, Georgios
and de Jonge, Dave",
title="An Interface for Programming Verifiable Autonomous Agents in ROS",
booktitle="Multi-Agent Systems and Agreement Technologies",
year="2020",
publisher="Springer International Publishing",
address="Cham",
pages="191--205",
abstract="Autonomy has been one of the most desirable features for robotic applications in recent years. This is evidenced by a recent surge of research in autonomous driving cars, strong government funding for research in robotics for extreme environments, and overall progress in service robots. Autonomous decision-making is often at the core of these systems, thus, it is important to be able to verify and validate properties that relate to the correct behaviour that is expected of the system. Our main contribution in this paper, is an interface for integrating BDI-based agents into robotic systems developed using ROS. We use the Gwendolen language to program our BDI agents and to make use of the AJPF model checker in order to verify properties related to the decision-making in the agent programs. Our case studies include 3D simulations using a simple autonomous patrolling behaviour of a TurtleBot, and multiple TurtleBots servicing a house that can cooperate with each other in case of failure.",
isbn="978-3-030-66412-1",
doi="10.1007/978-3-030-66412-1_13"
}

Autonomy has been one of the most desirable features for robotic applications in recent years. This is evidenced by a recent surge of research in autonomous driving cars, strong government funding for research in robotics for extreme environments, and overall progress in service robots. Autonomous decision-making is often at the core of these systems, thus, it is important to be able to verify and validate properties that relate to the correct behaviour that is expected of the system. Our main contribution in this paper, is an interface for integrating BDI-based agents into robotic systems developed using ROS. We use the Gwendolen language to program our BDI agents and to make use of the AJPF model checker in order to verify properties related to the decision-making in the agent programs. Our case studies include 3D simulations using a simple autonomous patrolling behaviour of a TurtleBot, and multiple TurtleBots servicing a house that can cooperate with each other in case of failure.

@inproceedings{Cardoso20a,
author="Cardoso, Rafael C.
and Farrell, Marie
and Luckcuck, Matt
and Ferrando, Angelo
and Fisher, Michael",
editor="Lee, Ritchie
and Jha, Susmit
and Mavridou, Anastasia
and Giannakopoulou, Dimitra",
title="Heterogeneous Verification of an Autonomous Curiosity Rover",
booktitle="NASA Formal Methods",
year="2020",
publisher="Springer International Publishing",
address="Cham",
pages="353--360",
abstract="The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited autonomy on-board, most of its decisions are made by the ground control team. This hinders the speed at which the Curiosity reacts to its environment, due to the communication delays between Earth and Mars. Depending on the orbital position of both planets, it can take 4--24 min for a message to be transmitted between Earth and Mars. If the Curiosity were controlled autonomously, it would be able to perform its activities much faster and more flexibly. However, one of the major barriers to increased use of autonomy in such scenarios is the lack of assurances that the autonomous behaviour will work as expected. In this paper, we use a Robot Operating System (ROS) model of the Curiosity that is simulated in Gazebo and add an autonomous agent that is responsible for high-level decision-making. Then, we use a mixture of formal and non-formal techniques to verify the distinct system components (ROS nodes). This use of heterogeneous verification techniques is essential to provide guarantees about the nodes at different abstraction levels, and allows us to bring together relevant verification evidence to provide overall assurance.",
isbn="978-3-030-55754-6",
doi="10.1007/978-3-030-55754-6_20"
}

The Curiosity rover is one of the most complex systems successfully deployed in a planetary exploration mission to date. It was sent by NASA to explore the surface of Mars and to identify potential signs of life. Even though it has limited autonomy on-board, most of its decisions are made by the ground control team. This hinders the speed at which the Curiosity reacts to its environment, due to the communication delays between Earth and Mars. Depending on the orbital position of both planets, it can take 4–24 min for a message to be transmitted between Earth and Mars. If the Curiosity were controlled autonomously, it would be able to perform its activities much faster and more flexibly. However, one of the major barriers to increased use of autonomy in such scenarios is the lack of assurances that the autonomous behaviour will work as expected. In this paper, we use a Robot Operating System (ROS) model of the Curiosity that is simulated in Gazebo and add an autonomous agent that is responsible for high-level decision-making. Then, we use a mixture of formal and non-formal techniques to verify the distinct system components (ROS nodes). This use of heterogeneous verification techniques is essential to provide guarantees about the nodes at different abstraction levels, and allows us to bring together relevant verification evidence to provide overall assurance.

@InProceedings{Ferrando20a,
author="Ferrando, Angelo
and Cardoso, Rafael C.
and Fisher, Michael
and Ancona, Davide
and Franceschini, Luca
and Mascardi, Viviana",
title="ROSMonitoring: A Runtime Verification Framework for ROS",
booktitle="Towards Autonomous Robotic Systems",
year="2020",
publisher="Springer International Publishing",
address="Cham",
pages="387--399",
doi="10.1007/978-3-030-63486-5_40",
isbn="978-3-030-63486-5"
}

@unpublished{Cardoso20c,
  author    = {Cardoso, R. C. and Farrell, M. and Kourtis, G. and Webster, M. and Dennis, L. A. and Dixon, C. and Fisher, M. and Lisitsa, A.},
  title     = {Verification and Validation for Space Robotics},
  year      = {2020},
  note = {Poster presented at the Opportunities and Challenges in Space Robotics Workshop held with ICRA 2020.}
}

@InProceedings{Cardoso20d,
author="Cardoso, Rafael C.
and Ferrando, Angelo
and Papacchini, Fabio",
title="LFC: Combining Autonomous Agents and Automated Planning in the Multi-Agent Programming Contest",
booktitle="The Multi-Agent Programming Contest 2019",
year="2020",
publisher="Springer International Publishing",
address="Cham",
pages="31--58",
isbn="978-3-030-59299-8",
doi={10.1007/978-3-030-59299-8_2}
}

@Inproceedings{Stringer20a,
  author    = {Stringer, Peter and Cardoso, Rafael C. and Huang, Xiaowei and Dennis, Louise A.},
  year      = {2020},
  title     = {Adaptable and Verifiable BDI Reasoning},
  booktitle = {Proceedings of the First Workshop on
               Agents and Robots for reliable Engineered Autonomy,
                Virtual event, 4th September 2020},
  series    = {Electronic Proceedings in Theoretical Computer Science},
  volume    = {319},
  publisher = {Open Publishing Association},
  pages     = {117-125},
  doi       = {10.4204/EPTCS.319.9}
}

@InProceedings{Cardoso20e,
  author    = {Cardoso, Rafael C. and Dennis, Louise A. and Farrell, Marie and Fisher, Michael and Luckcuck, Matt},
  year      = {2020},
  title     = {Towards Compositional Verification for Modular Robotic Systems},
  booktitle = {Proceedings Second Workshop on
               Formal Methods for Autonomous Systems,
               Virtual, 7th of December 2020},
  series    = {Electronic Proceedings in Theoretical Computer Science},
  volume    = {329},
  publisher = {Open Publishing Association},
  pages     = {15-22},
  doi       = {10.4204/EPTCS.329.2}
}

@InProceedings{FerrandoAIRO,
author="Ferrando, Angelo
and Kootbally, Zeid
and Piliptchak, Pavel
and Cardoso, Rafael C.
and Schlenoff, Craig
and Fisher, Michael",
title="Runtime Verification of the ARIAC competition: Can a robot be Agile and Safe at the same time?",
booktitle="AIRO",
year="2020"
}

@inproceedings{cardosoime,
  author = {Rafael C. Cardoso and Daniel Ene and Tom Evans and Louise A. Dennis},
  title = {Ethical Governor Systems viewed as a Multi-Agent Problem},
  editor       = {Vivek Nallur},
  booktitle        = {Second Workshop on Implementing Machine Ethics},
  month        = jun,
  year         = {2020},
  publisher    = {Zenodo},
  doi          = {10.5281/zenodo.3938851}
}

@inproceedings{Cardoso19AAMAS,
author = {Cardoso, Rafael C. and Bordini, Rafael H.},
title = {Decentralised Planning for Multi-Agent Programming Platforms},
year = {2019},
isbn = {9781450363099},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
booktitle = {Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems},
pages = {799–807},
numpages = {9},
keywords = {multi-agent development platforms, multi-agent planning, hierarchical task network, goal allocation},
location = {Montreal QC, Canada},
series = {AAMAS '19}
}

@inproceedings{Cardoso19Space,
  author    = {Farrell, M. and Cardoso, R. and Dennis, L. and Dixon, C. and Fisher, M. and Kourtis, G. and Lisitsa, A. and Luckcuck, M. and Webster, M},
  title     = {Modular Verification of Autonomous Space Robotics},
  booktitle = {Assurance of Autonomy for Robotic Space Missions Workshop},
  year      = {2019}
}

@InProceedings{Tabajara19,
author="Krausburg, Tabajara
and Cardoso, Rafael C.
and Damasio, Juliana
and Peres, Vitor
and Farias, Giovani P.
and Engelmann, Débora Cristina
and Hübner, Jomi Fred
and Bordini, Rafael H.",
editor="Ahlbrecht, Tobias
and Dix, Jürgen
and Fiekas, Niklas",
title="SMART--JaCaMo: An Organisation-Based Team for the Multi-Agent Programming Contest",
booktitle="The Multi-Agent Programming Contest 2018",
year="2019",
publisher="Springer International Publishing",
address="Cham",
pages="72--100",
abstract="The Multi-Agent Programming Contest in 2018 expanded upon the Agents in the City scenario used in the 2016 and 2017 editions of the contest. In this scenario two teams compete to score points by building and attacking wells using realistic city maps from OpenStreetMap. Wells are the main addition to the new version of the scenario; they cost money to build and generate score overtime but can be dismantled by agents from the other team. This, along with other additions, made it a significantly more complex scenario than before. In this paper, we describe the strategies used by our team, highlighting our adaptations and new additions from our participation in the previous years. We have fully explored the use of all three programming dimensions (agent, environment, and organisation) available in JaCaMo, the multi-agent system development platform that we used to implement our team. Our agents were able to dynamically switch between organisational roles, allowing them to promptly respond to changes in the environment and different opponent strategies. We were the highest-scoring team in the contest and our multi-agent system turned out to be stable and robust in solving the difficult problems posed by the contest scenario.",
isbn="978-3-030-37959-9"
}

The Multi-Agent Programming Contest in 2018 expanded upon the Agents in the City scenario used in the 2016 and 2017 editions of the contest. In this scenario two teams compete to score points by building and attacking wells using realistic city maps from OpenStreetMap. Wells are the main addition to the new version of the scenario; they cost money to build and generate score overtime but can be dismantled by agents from the other team. This, along with other additions, made it a significantly more complex scenario than before. In this paper, we describe the strategies used by our team, highlighting our adaptations and new additions from our participation in the previous years. We have fully explored the use of all three programming dimensions (agent, environment, and organisation) available in JaCaMo, the multi-agent system development platform that we used to implement our team. Our agents were able to dynamically switch between organisational roles, allowing them to promptly respond to changes in the environment and different opponent strategies. We were the highest-scoring team in the contest and our multi-agent system turned out to be stable and robust in solving the difficult problems posed by the contest scenario.

@article{Cardoso18a,
  author =   {Rafael C. Cardoso and Ramon Fraga Pereira and Guilherme Krzisch and Mauricio C. Magnaguagno and T\'ulio Bas\'egio and Felipe Meneguzzi},
  title =    {{Team PUCRS}: a Decentralised Multi-Agent Solution for the Agents in the City Scenario},
  journal =  {International Journal of Agent-Oriented Software Engineering},
  volume={6}, 
  number={1},
  month = jan,
  year =     {2018},
  doi={10.1504/IJAOSE.2018.10010601}, 
  pages =    {3--34},
  url={https://www.inderscienceonline.com/doi/abs/10.1504/IJAOSE.2018.089595}
}

@article{Cardoso18b,
	author = {Rafael C. Cardoso and Tabajara Krausburg and T\'ulio Bas\'egio and D\'ebora C. Engelmann and Jomi F. H\"{u}bner and Rafael H. Bordini},
  title =    {{SMART-JaCaMo}: an Organization-based Team for the Multi-Agent Programming Contest},
  journal =  {Annals of Mathematics and Artificial Intelligence},
month="Oct",
day="01",
volume="84",
number="1",
pages="75--93",
  year =     {2018},
doi="10.1007/s10472-018-9584-z",
url="https://doi.org/10.1007/s10472-018-9584-z"
}

@inproceedings{PAIR18,
	author = {Roman Barták and Adrien Maillard and Rafael C. Cardoso},
	title = {Validation of Hierarchical Plans via Parsing of Attribute Grammars},
	booktitle = {Proceedings of the AAAI 2018 Workshop on Plan, Activity, and Intent Recognition},
	pages     = {593--600},
	address = {New Orleans, USA},
	year = {2018},
	url={https://aaai.org/ocs/index.php/WS/AAAIW18/paper/view/17004}
}

@inproceedings{SIRLE18,
	author = {Roman Barták and Adrien Maillard and Rafael C. Cardoso},
	title = {Validation of Hierarchical Plans via Parsing of Attribute Grammars},
	booktitle = {Proceedings of the AAAI 2018 Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy},
	pages     = {482--489},
	year = {2018},
 	url = {https://aaai.org/ocs/index.php/SSS/SSS18/paper/view/17523}
}

@inproceedings{ICAPS18,
	author = {Roman Barták and Adrien Maillard and Rafael C. Cardoso},
	title = {Validation of Hierarchical Plans via Parsing of Attribute Grammars},
	booktitle = {Proceedings of the Twenty-Eight International Conference on Automated Planning and Scheduling},
	pages     = {11--19},
	address = {Delft, The Netherlands},
	year = {2018},
  	url = {https://aaai.org/ocs/index.php/ICAPS/ICAPS18/paper/view/17748}
}

@inproceedings{Cardoso17a,
	author = {Rafael C. Cardoso and Rafael H. Bordini},
	title = {A Modular Framework for Decentralised Multi-Agent Planning},
	booktitle = {Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems},
	address = {São Paulo, Brazil},
    pages = {1487--1489},
	year = {2017},
	url={http://www.ifaamas.org/Proceedings/aamas2017/pdfs/p1487.pdf}
}

@article{Cardoso17b,
	author = {Rafael C. Cardoso and Rafael H. Bordini},
	title = {A Multi-Agent Extension of a Hierarchical Task Network Planning Formalism},
journal = {Advances in Distributed Computing and Artificial Intelligence Journal},
	volume = {6},
	number = {2},
	month = may,
	year = {2017},
	pages = {5--17},
	issn = {2255-2863},
	url={http://revistas.usal.es/index.php/2255-2863/article/view/ADCAIJ201762517}
}

@inproceedings{Cardoso16a,
	author    = {Rafael C. Cardoso and Rafael H. Bordini},
	title     = {A Distributed Online Multi-Agent Planning System},
	booktitle      = {4th Workshop on Distributed and Multi-Agent Planning},
	address = {London, United Kingdom},
	pages = {15--23},
	year = {2016},
  url={https://smart-pucrs.github.io/publications/pdf/DOMAPS-DMAP16.pdf}
}

@inproceedings{Cardoso16b,
  author    = {Rafael C. Cardoso and Rafael H. Bordini},
  title     = {A Multi-Agent Extension of Hierarchical Task Network},
  booktitle      = {10th Workshop-School on Agents, Environments, and Applications (WESAAC)},
  address = {Maceió, AL, Brazil},
  year = {2016},
  url={https://smart-pucrs.github.io/publications/pdf/MAHTN-WESAAC16.pdf}
}

@inproceedings{Cardoso16c,
  author    = {Rafael C. Cardoso and Rafael H. Bordini},
  title     = {Allocating Social Goals Using the Contract Net Protocol in Online Multi-Agent Planning},
  booktitle      = {5th Brazilian Conference on Intelligent System},
  address = {Recife, Pernambuco, Brazil},
  pages={199--204}, 
  year = {2016},
  url={http://ieeexplore.ieee.org/document/7839586/}
}

@inproceedings{Freitas16a,
  author    = {Artur Freitas and Rafael C. Cardoso and Renata Vieira and Rafael H. Bordini},
  title     = {Limitations and Divergences in Approaches for Agent-Oriented Modelling and Programming},
  booktitle      = {Workshop on Engineering Multi-Agent Systems (EMAS-16)},
  address = {Singapore},
  year = {2016},
  pages = {88--103},
  url = {https://smart-pucrs.github.io/publications/pdf/Modelling-EMAS2016.pdf}
}

@inproceedings{Cardoso15,
  author    = {Rafael C. Cardoso and Rafael H. Bordini},
  title     = {Combining off-line Multi-Agent Planning with a Multi-Agent System Development Framework},
  booktitle      = {3rd Workshop on Distributed and Multi-Agent Planning (DMAP-15)},
  address = {Jerusalem, Israel},
  year = {2015},
  url={https://smart-pucrs.github.io/publications/pdf/Translations-DMAP15.pdf}
}

@inproceedings{Cardoso13a,
  author    = {Cardoso, Rafael C. and Hübner, Jomi F. and Bordini, Rafael H.},
  title     = {Benchmarking Communication in Actor- and Agent-Based Languages},
  booktitle = {12th International Conference on Autonomous Agents and Multiagent Systems},
  pages = {1267--1268},
  year      = {2013},
  address = {Saint Paul, Minnesota, USA},
  url={http://dl.acm.org/citation.cfm?id=2485176}
}

@inproceedings{Cardoso13b,
 author = {Cardoso, Rafael C. and Hübner, Jomi F. and Bordini, Rafael H.},
 title = {Benchmarking Communication in Agent- and Actor-Based Languages},
 booktitle = {Engineering Multi-Agent Systems},
 year = {2013},
 pages = {81--96},
 numpages = {16},
 address = {Saint Paul, Minnesota, USA},
 url={http://link.springer.com/chapter/10.1007%2F978-3-642-45343-4_4}
}

@inproceedings{Cardoso13c,
  author    = {Rafael C. Cardoso and Maicon R. Zatelli and Jomi F. Hübner and Rafael H. Bordini},
  title     = {Towards Benchmarking Actor- and Agent-Based Programming Languages},
  booktitle = {Workshop on Programming based on actors, agents, and decentralized control},
  pages = {115--126},
  year      = {2013},
 address = {Indianapolis, Indiana, USA},
 url={http://dl.acm.org/citation.cfm?id=2541339}
}

@inproceedings {Cardoso12,
        title = {Planejamento de Percepcoes e Acoes de Agentes Jason no Robo LEGO Mindstorms NXT 1.0},
        booktitle = {XI Simposio de Informatica da UNIFRA},
        year = {2012},
        author = {Rafael C. Cardoso and Alexandre de Oliveira Zamberlan}
}