var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://www.cs.toronto.edu/~toryn/test/publications/list.bib\",\"jsonp\":\"1\",\"filter\":\"keywords:\\\\b(LTL|automata)\\\\b,keywords:\\\\bplanning\\\\b\",\"theme\":\"default\",\"urlLabel\":\"paper\",\"groupby\":\"\",\"host\":\"bibbase.org\"},\n      data: [{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"firstnames\":[\"Alberto\"],\"propositions\":[],\"lastnames\":[\"Camacho\"],\"suffixes\":[]},{\"firstnames\":[\"Jorge\",\"A.\"],\"propositions\":[],\"lastnames\":[\"Baier\"],\"suffixes\":[]},{\"firstnames\":[\"Christian\",\"J.\"],\"propositions\":[],\"lastnames\":[\"Muise\"],\"suffixes\":[]},{\"firstnames\":[\"Sheila\",\"A.\"],\"propositions\":[],\"lastnames\":[\"McIlraith\"],\"suffixes\":[]}],\"title\":\"Finite LTL Synthesis as Planning\",\"booktitle\":\"Proceedings of the Twenty-Eight International Conference on Automated Planning and Scheduling (ICAPS)\",\"pages\":\"29-38\",\"year\":\"2018\",\"url_paper\":\"http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf\",\"keywords\":\"LTL, planning\",\"bibtex\":\"@inproceedings{cam-bai-mui-mci-icaps18,\\r\\n  author    = {Alberto Camacho and\\r\\n               Jorge A. Baier and\\r\\n               Christian J. Muise and\\r\\n               Sheila A. McIlraith},\\r\\n  title     = {Finite {LTL} Synthesis as Planning},\\r\\n  booktitle = {Proceedings of the Twenty-Eight International Conference on\\r\\nAutomated Planning and Scheduling ({ICAPS})},\\r\\n  pages     = {29-38},\\r\\n  year      = {2018},\\r\\n  url_paper =\\r\\n{http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf},\\r\\n  keywords  = {LTL, planning}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Camacho, A.\",\"Baier, J. A.\",\"Muise, C. J.\",\"McIlraith, S. 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Muise and\\r\\n               Jorge A. Baier and\\r\\n               Sheila A. McIlraith},\\r\\n  title     = {Non-Deterministic Planning with Temporally Extended Goals:\\r\\n{LTL} over Finite and Infinite Traces},\\r\\n  booktitle = {Proceedings of the Thirty-First AAAI Conference on\\r\\nArtificial Intelligence ({AAAI})},\\r\\n  url_paper =\\r\\n{http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf},\\r\\n  keywords  = {LTL, planning},\\r\\n  pages     = {3716-3724},\\r\\n  year      = {2017}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Camacho, A.\",\"Triantafillou, E.\",\"Muise, C. J.\",\"Baier, J. A.\",\"McIlraith, S. A.\"],\"key\":\"cam-tri-mui-bai-mci-aaai17\",\"id\":\"cam-tri-mui-bai-mci-aaai17\",\"bibbaseid\":\"camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017\",\"role\":\"author\",\"urls\":{\" paper\":\"http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf\"},\"keyword\":[\"LTL\",\"planning\"],\"metadata\":{\"authorlinks\":{\"camacho, a\":\"http://www.albertocamacho.com/\",\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\",\"muise, c\":\"https://www.haz.ca/academic-publications.html\"}},\"downloads\":31,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite LTL (Amended Version)\",\"author\":[{\"firstnames\":[\"Alberto\"],\"propositions\":[],\"lastnames\":[\"Camacho\"],\"suffixes\":[]},{\"firstnames\":[\"Eleni\"],\"propositions\":[],\"lastnames\":[\"Triantafillou\"],\"suffixes\":[]},{\"firstnames\":[\"Christian\"],\"propositions\":[],\"lastnames\":[\"Muise\"],\"suffixes\":[]},{\"firstnames\":[\"Jorge\"],\"propositions\":[],\"lastnames\":[\"Baier\"],\"suffixes\":[]},{\"firstnames\":[\"Sheila\",\"A.\"],\"propositions\":[],\"lastnames\":[\"McIlraith\"],\"suffixes\":[]}],\"booktitle\":\"Workshop on knowledge-based techniques for problem solving and reasoning (KnowProS'16) at IJCAI\",\"year\":\"2016\",\"url\":\"https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf\",\"note\":\"A version of this paper also appeared in the Workshop on Heuristic Search and Domain Independent Planning (HSDIP'16) at ICAPS\",\"abstract\":\"Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of planning with temporally extended goals over both finite and infinite traces where actions can be non-deterministic, and where temporally extended goals are specified in linear temporal logic (LTL). Unlike existing LTL planners, we place no restrictionson our LTL formulae beyond those necessary to distinguish finite from infinite trace interpretations. We realize our planner by compiling temporally extended goals, represented in LTL, into Planning Domain Definition Language problem instances, and exploiting a state-of-the-art fully observable non-deterministic planner to compute solutions. The resulting planner is sound and complete. Our approach exploits the correspondence between LTL and automata. We propose several different compilations based on translations of LTL to (Buchi) alternating or non-deterministic finite state automata, and evaluate various properties of the competing approaches. We address a diverse spectrum of LTL planning problems that, to this point, had not been solvable using AI planning techniques. We do so while demonstrating competitive performance relative to the state of the art in LTL planning.\",\"keywords\":\"LTL, planning\",\"bibtex\":\"@inproceedings{cam-etal-ltl-knowpros16,\\r\\n  title = {Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite {LTL} (Amended Version)},\\r\\n  author = {Alberto Camacho and Eleni Triantafillou and Christian Muise and Jorge Baier and Sheila A. McIlraith},\\r\\n  booktitle = {Workshop on knowledge-based techniques for problem solving and reasoning (KnowProS'16) at IJCAI},\\r\\n  year = {2016},\\r\\n  url = {https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf},\\r\\n  note = {A version of this paper also appeared in the Workshop on Heuristic Search and Domain Independent Planning ({HSDIP}'16) at ICAPS},\\r\\nabstract={Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of planning with temporally extended goals over both finite and infinite traces where actions can be non-deterministic, and where temporally extended goals are specified in linear temporal logic (LTL). Unlike existing LTL planners, we place no restrictionson our LTL formulae beyond those necessary to distinguish finite from infinite trace interpretations. We realize our planner by compiling temporally extended goals, represented in LTL, into Planning Domain Definition Language problem instances, and exploiting a state-of-the-art fully observable non-deterministic planner to compute solutions. The resulting planner is sound and complete. Our approach exploits the correspondence between LTL and automata. We propose several different compilations based on translations of LTL to (Buchi) alternating or non-deterministic finite state automata, and evaluate various properties of the competing approaches. We address a diverse spectrum of LTL planning problems that, to this point, had not been solvable using AI planning techniques. We do so while demonstrating competitive performance relative to the state of the art in LTL planning.},\\r\\n  keywords = {LTL, planning}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Camacho, A.\",\"Triantafillou, E.\",\"Muise, C.\",\"Baier, J.\",\"McIlraith, S. 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McIlraith},\\r\\n  year = {2011},\\r\\n  keywords = {planning, LTL, preferences}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Bienvenu, M.\",\"Fritz, C.\",\"McIlraith, S. A.\"],\"key\":\"bie-fri-mci-aij11\",\"id\":\"bie-fri-mci-aij11\",\"bibbaseid\":\"bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011\",\"role\":\"author\",\"urls\":{\"paper\":\"https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf\"},\"keyword\":[\"planning\",\"LTL\",\"preferences\"],\"metadata\":{\"authorlinks\":{\"fritz, c\":\"https://www.cs.toronto.edu/~fritz/\",\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\"}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"firstnames\":[\"Jorge\",\"A.\"],\"propositions\":[],\"lastnames\":[\"Baier\"],\"suffixes\":[]},{\"firstnames\":[\"Fahiem\"],\"propositions\":[],\"lastnames\":[\"Bacchus\"],\"suffixes\":[]},{\"firstnames\":[\"Sheila\",\"A.\"],\"propositions\":[],\"lastnames\":[\"McIlraith\"],\"suffixes\":[]}],\"url\":\"https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf\",\"journal\":\"Artificial Intelligence\",\"title\":\"A Heuristic Search Approach to Planning with Temporally Extended Preferences\",\"number\":\"5-6\",\"volume\":\"173\",\"year\":\"2009\",\"pages\":\"593-618\",\"keywords\":\"LTL, planning, preferences\",\"bibtex\":\"@article{ bai-bac-mci-aij09,\\r\\n  author = {Jorge A. Baier and Fahiem Bacchus and Sheila A. McIlraith},\\r\\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf},\\r\\n  journal = {Artificial Intelligence},\\r\\n  title = {A Heuristic Search Approach to Planning with Temporally Extended Preferences},\\r\\n  number = {5-6},\\r\\n  volume = {173},\\r\\n  year = {2009},\\r\\n  pages = {593-618},\\r\\n  keywords = {LTL, planning, preferences}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Baier, J. A.\",\"Bacchus, F.\",\"McIlraith, S. A.\"],\"key\":\"bai-bac-mci-aij09\",\"id\":\"bai-bac-mci-aij09\",\"bibbaseid\":\"baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009\",\"role\":\"author\",\"urls\":{\"paper\":\"https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf\"},\"keyword\":[\"LTL\",\"planning\",\"preferences\"],\"metadata\":{\"authorlinks\":{\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\",\"baier, j\":\"http://www.cs.toronto.edu/~bgmomb/research.html\",\"bacchus, f\":\"https://www.cs.toronto.edu/~fbacchus/research.shtml\"}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"url\":\"https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf\",\"author\":[{\"firstnames\":[\"Jorge\",\"A.\"],\"propositions\":[],\"lastnames\":[\"Baier\"],\"suffixes\":[]},{\"firstnames\":[\"Christian\"],\"propositions\":[],\"lastnames\":[\"Fritz\"],\"suffixes\":[]},{\"firstnames\":[\"Meghyn\"],\"propositions\":[],\"lastnames\":[\"Bienvenu\"],\"suffixes\":[]},{\"firstnames\":[\"Sheila\"],\"propositions\":[],\"lastnames\":[\"McIlraith\"],\"suffixes\":[]}],\"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\",\"address\":\"Chicago, Illinois, USA\",\"month\":\"July 13-17\",\"pages\":\"1509-1512\",\"keywords\":\"planning, LTL, preferences\",\"bibtex\":\"@InProceedings{ bai-fri-bie-mci-aaai08nectar,\\r\\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf},\\r\\n  author = \\t {Jorge A. 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Baier and Christian Fritz and Sheila A. McIlraith},\\r\\n  title = \\t {Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners},\\r\\n  booktitle = {Proceedings of the Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07)},\\r\\n  year = \\t 2007,\\r\\n  pages =       {144-151},\\r\\n  address = \\t {Providence, Rhode Island},\\r\\n  month = \\t {September 22 - 26},\\r\\n  keywords = {planning, automata}\\r\\n}\\r\\n\\r\\n\\r\\n\",\"author_short\":[\"Baier, J. A.\",\"Fritz, C.\",\"McIlraith, S. 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S.\"],\"key\":\"bai-mci-aaai06\",\"id\":\"bai-mci-aaai06\",\"bibbaseid\":\"baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006\",\"role\":\"author\",\"urls\":{\"paper\":\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf\"},\"keyword\":[\"LTL\",\"planning\"],\"metadata\":{\"authorlinks\":{\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\",\"baier, j\":\"http://www.cs.toronto.edu/~bgmomb/research.html\"}},\"downloads\":21,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"url\":\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Baier\"],\"firstnames\":[\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"McIlraith\"],\"firstnames\":[\"S.\"],\"suffixes\":[]}],\"title\":\"Planning with Temporally Extended Goals Using Heuristic Search\",\"booktitle\":\"Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS06)\",\"year\":\"2006\",\"address\":\"Lake District, UK\",\"pages\":\"342-345\",\"month\":\"June\",\"keywords\":\"planning, LTL\",\"bibtex\":\"@InProceedings{ bai-mci-icaps06,\\r\\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf},\\r\\n  author = {Baier, J. and McIlraith, S.},\\r\\n  title = {Planning with Temporally Extended Goals Using Heuristic Search},\\r\\n  booktitle = {Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS06)},\\r\\n  year = 2006,\\r\\n  address = {Lake District, UK},\\r\\n  pages = {342-345},\\r\\n  month   = {June},\\r\\n  keywords = {planning, LTL}\\r\\n}\\r\\n\\r\\n\\r\\n\",\"author_short\":[\"Baier, J.\",\"McIlraith, S.\"],\"key\":\"bai-mci-icaps06\",\"id\":\"bai-mci-icaps06\",\"bibbaseid\":\"baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006\",\"role\":\"author\",\"urls\":{\"paper\":\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf\"},\"keyword\":[\"planning\",\"LTL\"],\"metadata\":{\"authorlinks\":{\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\",\"baier, j\":\"http://www.cs.toronto.edu/~bgmomb/research.html\"}},\"downloads\":24,\"html\":\"\"}],\n      metadata: {\"owner\":\"mcilraith, s\",\"authorlinks\":{\"mcilraith, s\":\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\"}},\n      ownerID: \"GvvCbq8Y4n9QqTySC\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script 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  author    = {Alberto Camacho and
               Jorge A. Baier and
               Christian J. Muise and
               Sheila A. McIlraith},
  title     = {Finite {LTL} Synthesis as Planning},
  booktitle = {Proceedings of the Twenty-Eight International Conference on
Automated Planning and Scheduling ({ICAPS})},
  pages     = {29-38},
  year      = {2018},
  url_paper =
{http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf},
  keywords  = {LTL, planning}
}



@inproceedings{cam-tri-mui-bai-mci-aaai17,
  author    = {Alberto Camacho and
               Eleni Triantafillou and
               Christian J. Muise and
               Jorge A. Baier and
               Sheila A. McIlraith},
  title     = {Non-Deterministic Planning with Temporally Extended Goals:
{LTL} over Finite and Infinite Traces},
  booktitle = {Proceedings of the Thirty-First AAAI Conference on
Artificial Intelligence ({AAAI})},
  url_paper =
{http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf},
  keywords  = {LTL, planning},
  pages     = {3716-3724},
  year      = {2017}
}



@inproceedings{cam-etal-ltl-knowpros16,
  title = {Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite {LTL} (Amended Version)},
  author = {Alberto Camacho and Eleni Triantafillou and Christian Muise and Jorge Baier and Sheila A. McIlraith},
  booktitle = {Workshop on knowledge-based techniques for problem solving and reasoning (KnowProS'16) at IJCAI},
  year = {2016},
  url = {https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf},
  note = {A version of this paper also appeared in the Workshop on Heuristic Search and Domain Independent Planning ({HSDIP}'16) at ICAPS},
abstract={Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of planning with temporally extended goals over both finite and infinite traces where actions can be non-deterministic, and where temporally extended goals are specified in linear temporal logic (LTL). Unlike existing LTL planners, we place no restrictionson our LTL formulae beyond those necessary to distinguish finite from infinite trace interpretations. We realize our planner by compiling temporally extended goals, represented in LTL, into Planning Domain Definition Language problem instances, and exploiting a state-of-the-art fully observable non-deterministic planner to compute solutions. The resulting planner is sound and complete. Our approach exploits the correspondence between LTL and automata. We propose several different compilations based on translations of LTL to (Buchi) alternating or non-deterministic finite state automata, and evaluate various properties of the competing approaches. We address a diverse spectrum of LTL planning problems that, to this point, had not been solvable using AI planning techniques. We do so while demonstrating competitive performance relative to the state of the art in LTL planning.},
  keywords = {LTL, planning}
}



@inproceedings{tri-etal-mochap15,
  title = {A Unifying Framework for Planning with LTL and Regular Expressions},
  author = {Eleni Triantafillou and Jorge Baier and Sheila McIlraith},
  booktitle = {Proceedings of the Workshop on Model-Checking and Automated Planning (MOCHAP) at ICAPS},
  pages = {23-31},
  year = {2015},
  url = {https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf},
  keywords = {planning, LTL, LDL}
}




@article{ bie-fri-mci-aij11,
  volume = {175},
  number = {7-8},
  title = {Specifying and Computing Preferred Plans},
  url = {https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf},
  journal = {Artificial Intelligence},
  keywords = {Planning with preferences},
  pages = {1308-1345},
  author = {Meghyn Bienvenu and Christian Fritz and Sheila A. McIlraith},
  year = {2011},
  keywords = {planning, LTL, preferences}
}



@article{ bai-bac-mci-aij09,
  author = {Jorge A. Baier and Fahiem Bacchus and Sheila A. McIlraith},
  url = {https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf},
  journal = {Artificial Intelligence},
  title = {A Heuristic Search Approach to Planning with Temporally Extended Preferences},
  number = {5-6},
  volume = {173},
  year = {2009},
  pages = {593-618},
  keywords = {LTL, planning, preferences}
}



@InProceedings{ bai-fri-bie-mci-aaai08nectar,
  url = {https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf},
  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,
  address =	 {Chicago, Illinois, USA},
  month =	 {July 13-17},
  pages =	 {1509-1512},
  keywords = {planning, LTL, preferences}
}




@InProceedings{ bai-fri-mci-icaps07,
  url = {https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf},
  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 Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07)},
  year = 	 2007,
  pages =       {144-151},
  address = 	 {Providence, Rhode Island},
  month = 	 {September 22 - 26},
  keywords = {planning, automata}
}




@InProceedings{bai-mci-aaai06,
  url = {https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf},
  author = {Baier, J. and McIlraith, S.},
  title = {Planning with First-Order Temporally Extended Goals Using Heuristic Search},
  booktitle = {Proceedings of the 21st National Conference on Artificial Intelligence (AAAI06)},
  address = {Boston, MA},
  month   = {July},
  pages = {788-795},
  year = 2006,
  keywords = {LTL, planning}
}



@InProceedings{ bai-mci-icaps06,
  url = {https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf},
  author = {Baier, J. and McIlraith, S.},
  title = {Planning with Temporally Extended Goals Using Heuristic Search},
  booktitle = {Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS06)},
  year = 2006,
  address = {Lake District, UK},
  pages = {342-345},
  month   = {June},
  keywords = {planning, LTL}
}


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A.; <a class=\"bibbase author link\" href=\"https://www.haz.ca/academic-publications.html\">Muise, C. J.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Twenty-Eight International Conference on Automated Planning and Scheduling (ICAPS)</i>, pages 29-38,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf\"\n     onclick=\"log_download('camacho-baier-muise-mcilraith-finiteltlsynthesisasplanning-2018', 'http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Finite LTL Synthesis as Planning [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/camacho-baier-muise-mcilraith-finiteltlsynthesisasplanning-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>29 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('camacho-baier-muise-mcilraith-finiteltlsynthesisasplanning-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cam-bai-mui-mci-icaps18,\r\n  author    = {Alberto Camacho and\r\n               Jorge A. Baier and\r\n               Christian J. Muise and\r\n               Sheila A. McIlraith},\r\n  title     = {Finite {LTL} Synthesis as Planning},\r\n  booktitle = {Proceedings of the Twenty-Eight International Conference on\r\nAutomated Planning and Scheduling ({ICAPS})},\r\n  pages     = {29-38},\r\n  year      = {2018},\r\n  url_paper =\r\n{http://www.cs.toronto.edu/~acamacho/papers/cam-bai-mui-mci-icaps18.pdf},\r\n  keywords  = {LTL, planning}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017', 'http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf', event);\">\n    Non-Deterministic Planning with Temporally Extended Goals: LTL over Finite and Infinite Traces.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.albertocamacho.com/\">Camacho, A.</a>; Triantafillou, E.; <a class=\"bibbase author link\" href=\"https://www.haz.ca/academic-publications.html\">Muise, C. J.</a>; Baier, J. A.;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Thirty-First AAAI Conference on Artificial Intelligence (AAAI)</i>, pages 3716-3724,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf\"\n     onclick=\"log_download('camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017', 'http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Non-Deterministic Planning with Temporally Extended Goals: LTL over Finite and Infinite Traces [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>31 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalsltloverfiniteandinfinitetraces-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cam-tri-mui-bai-mci-aaai17,\r\n  author    = {Alberto Camacho and\r\n               Eleni Triantafillou and\r\n               Christian J. Muise and\r\n               Jorge A. Baier and\r\n               Sheila A. McIlraith},\r\n  title     = {Non-Deterministic Planning with Temporally Extended Goals:\r\n{LTL} over Finite and Infinite Traces},\r\n  booktitle = {Proceedings of the Thirty-First AAAI Conference on\r\nArtificial Intelligence ({AAAI})},\r\n  url_paper =\r\n{http://www.cs.toronto.edu/~sheila/publications/cam-etal-aaai17.pdf},\r\n  keywords  = {LTL, planning},\r\n  pages     = {3716-3724},\r\n  year      = {2017}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalscompletingthestoryforfiniteandinfiniteltlamendedversion-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalscompletingthestoryforfiniteandinfiniteltlamendedversion-2016', 'https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf', event);\">\n    Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite LTL (Amended Version).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.albertocamacho.com/\">Camacho, A.</a>; Triantafillou, E.; <a class=\"bibbase author link\" href=\"https://www.haz.ca/academic-publications.html\">Muise, C.</a>; Baier, J.;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Workshop on knowledge-based techniques for problem solving and reasoning (KnowProS'16) at IJCAI</i>,  2016. \n  <span class=\"note\">A version of this paper also appeared in the Workshop on Heuristic Search and Domain Independent Planning (HSDIP'16) at ICAPS</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf\"\n     onclick=\"log_download('camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalscompletingthestoryforfiniteandinfiniteltlamendedversion-2016', 'https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite LTL (Amended Version) [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalscompletingthestoryforfiniteandinfiniteltlamendedversion-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('camacho-triantafillou-muise-baier-mcilraith-nondeterministicplanningwithtemporallyextendedgoalscompletingthestoryforfiniteandinfiniteltlamendedversion-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cam-etal-ltl-knowpros16,\r\n  title = {Non-Deterministic Planning with Temporally Extended Goals: Completing the story for finite and infinite {LTL} (Amended Version)},\r\n  author = {Alberto Camacho and Eleni Triantafillou and Christian Muise and Jorge Baier and Sheila A. McIlraith},\r\n  booktitle = {Workshop on knowledge-based techniques for problem solving and reasoning (KnowProS&#x27;16) at IJCAI},\r\n  year = {2016},\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/cam-etal-ltl-knowpros16.pdf},\r\n  note = {A version of this paper also appeared in the Workshop on Heuristic Search and Domain Independent Planning ({HSDIP}&#x27;16) at ICAPS},\r\nabstract={Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of planning with temporally extended goals over both finite and infinite traces where actions can be non-deterministic, and where temporally extended goals are specified in linear temporal logic (LTL). Unlike existing LTL planners, we place no restrictionson our LTL formulae beyond those necessary to distinguish finite from infinite trace interpretations. We realize our planner by compiling temporally extended goals, represented in LTL, into Planning Domain Definition Language problem instances, and exploiting a state-of-the-art fully observable non-deterministic planner to compute solutions. The resulting planner is sound and complete. Our approach exploits the correspondence between LTL and automata. We propose several different compilations based on translations of LTL to (Buchi) alternating or non-deterministic finite state automata, and evaluate various properties of the competing approaches. We address a diverse spectrum of LTL planning problems that, to this point, had not been solvable using AI planning techniques. We do so while demonstrating competitive performance relative to the state of the art in LTL planning.},\r\n  keywords = {LTL, planning}\r\n}\r\n\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Temporally extended goals are critical to the specification of a diversity of real-world planning problems. Here we examine the problem of planning with temporally extended goals over both finite and infinite traces where actions can be non-deterministic, and where temporally extended goals are specified in linear temporal logic (LTL). Unlike existing LTL planners, we place no restrictionson our LTL formulae beyond those necessary to distinguish finite from infinite trace interpretations. We realize our planner by compiling temporally extended goals, represented in LTL, into Planning Domain Definition Language problem instances, and exploiting a state-of-the-art fully observable non-deterministic planner to compute solutions. The resulting planner is sound and complete. Our approach exploits the correspondence between LTL and automata. We propose several different compilations based on translations of LTL to (Buchi) alternating or non-deterministic finite state automata, and evaluate various properties of the competing approaches. We address a diverse spectrum of LTL planning problems that, to this point, had not been solvable using AI planning techniques. We do so while demonstrating competitive performance relative to the state of the art in LTL planning.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"triantafillou-baier-mcilraith-aunifyingframeworkforplanningwithltlandregularexpressions-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'triantafillou-baier-mcilraith-aunifyingframeworkforplanningwithltlandregularexpressions-2015', 'https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf', event);\">\n    A Unifying Framework for Planning with LTL and Regular Expressions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Triantafillou, E.; Baier, J.;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Workshop on Model-Checking and Automated Planning (MOCHAP) at ICAPS</i>, pages 23-31,  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf\"\n     onclick=\"log_download('triantafillou-baier-mcilraith-aunifyingframeworkforplanningwithltlandregularexpressions-2015', 'https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Unifying Framework for Planning with LTL and Regular Expressions [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/triantafillou-baier-mcilraith-aunifyingframeworkforplanningwithltlandregularexpressions-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('triantafillou-baier-mcilraith-aunifyingframeworkforplanningwithltlandregularexpressions-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tri-etal-mochap15,\r\n  title = {A Unifying Framework for Planning with LTL and Regular Expressions},\r\n  author = {Eleni Triantafillou and Jorge Baier and Sheila McIlraith},\r\n  booktitle = {Proceedings of the Workshop on Model-Checking and Automated Planning (MOCHAP) at ICAPS},\r\n  pages = {23-31},\r\n  year = {2015},\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/tri-etal-mochap15.pdf},\r\n  keywords = {planning, LTL, LDL}\r\n}\r\n\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011', 'https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf', event);\">\n    Specifying and Computing Preferred Plans.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bienvenu, M.; <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~fritz/\">Fritz, C.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Artificial Intelligence</i>, 175(7-8): 1308-1345.  2011.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf\"\n     onclick=\"log_download('bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011', 'https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Specifying and Computing Preferred Plans [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bienvenu-fritz-mcilraith-specifyingandcomputingpreferredplans-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{ bie-fri-mci-aij11,\r\n  volume = {175},\r\n  number = {7-8},\r\n  title = {Specifying and Computing Preferred Plans},\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bie-fri-mci-aij11.pdf},\r\n  journal = {Artificial Intelligence},\r\n  keywords = {Planning with preferences},\r\n  pages = {1308-1345},\r\n  author = {Meghyn Bienvenu and Christian Fritz and Sheila A. McIlraith},\r\n  year = {2011},\r\n  keywords = {planning, LTL, preferences}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009', 'https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf', event);\">\n    A Heuristic Search Approach to Planning with Temporally Extended Preferences.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.cs.toronto.edu/~bgmomb/research.html\">Baier, J. A.</a>; <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~fbacchus/research.shtml\">Bacchus, F.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  <i>Artificial Intelligence</i>, 173(5-6): 593-618.  2009.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf\"\n     onclick=\"log_download('baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009', 'https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Heuristic Search Approach to Planning with Temporally Extended Preferences [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('baier-bacchus-mcilraith-aheuristicsearchapproachtoplanningwithtemporallyextendedpreferences-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{ bai-bac-mci-aij09,\r\n  author = {Jorge A. Baier and Fahiem Bacchus and Sheila A. McIlraith},\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-bac-mci-aij09.pdf},\r\n  journal = {Artificial Intelligence},\r\n  title = {A Heuristic Search Approach to Planning with Temporally Extended Preferences},\r\n  number = {5-6},\r\n  volume = {173},\r\n  year = {2009},\r\n  pages = {593-618},\r\n  keywords = {LTL, planning, preferences}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"baier-fritz-bienvenu-mcilraith-beyondclassicalplanningproceduralcontrolknowledgeandpreferencesinstateoftheartplanners-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'baier-fritz-bienvenu-mcilraith-beyondclassicalplanningproceduralcontrolknowledgeandpreferencesinstateoftheartplanners-2008', 'https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf', event);\">\n    Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.cs.toronto.edu/~bgmomb/research.html\">Baier, J. A.</a>; <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~fritz/\">Fritz, C.</a>; Bienvenu, M.;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI), Nectar Track</i>, pages 1509-1512, Chicago, Illinois, USA, July 13-17 2008. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf\"\n     onclick=\"log_download('baier-fritz-bienvenu-mcilraith-beyondclassicalplanningproceduralcontrolknowledgeandpreferencesinstateoftheartplanners-2008', 'https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/baier-fritz-bienvenu-mcilraith-beyondclassicalplanningproceduralcontrolknowledgeandpreferencesinstateoftheartplanners-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('baier-fritz-bienvenu-mcilraith-beyondclassicalplanningproceduralcontrolknowledgeandpreferencesinstateoftheartplanners-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ bai-fri-bie-mci-aaai08nectar,\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-fri-bie-mci-aaai08nectar.pdf},\r\n  author = \t {Jorge A. Baier and Christian Fritz and Meghyn Bienvenu and Sheila McIlraith},\r\n  title = \t {Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners},\r\n  booktitle =\t {Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI), Nectar Track},\r\n  year =\t 2008,\r\n  address =\t {Chicago, Illinois, USA},\r\n  month =\t {July 13-17},\r\n  pages =\t {1509-1512},\r\n  keywords = {planning, LTL, preferences}\r\n}\r\n\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"baier-fritz-mcilraith-exploitingproceduraldomaincontrolknowledgeinstateoftheartplanners-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'baier-fritz-mcilraith-exploitingproceduraldomaincontrolknowledgeinstateoftheartplanners-2007', 'https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf', event);\">\n    Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.cs.toronto.edu/~bgmomb/research.html\">Baier, J. A.</a>; <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~fritz/\">Fritz, C.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S. A.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07)</i>, pages 144-151, Providence, Rhode Island, September 22 - 26 2007. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf\"\n     onclick=\"log_download('baier-fritz-mcilraith-exploitingproceduraldomaincontrolknowledgeinstateoftheartplanners-2007', 'https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/baier-fritz-mcilraith-exploitingproceduraldomaincontrolknowledgeinstateoftheartplanners-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('baier-fritz-mcilraith-exploitingproceduraldomaincontrolknowledgeinstateoftheartplanners-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ bai-fri-mci-icaps07,\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-fri-mci-icaps07.pdf},\r\n  author = \t {Jorge A. Baier and Christian Fritz and Sheila A. McIlraith},\r\n  title = \t {Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners},\r\n  booktitle = {Proceedings of the Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07)},\r\n  year = \t 2007,\r\n  pages =       {144-151},\r\n  address = \t {Providence, Rhode Island},\r\n  month = \t {September 22 - 26},\r\n  keywords = {planning, automata}\r\n}\r\n\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006', 'https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf', event);\">\n    Planning with First-Order Temporally Extended Goals Using Heuristic Search.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.cs.toronto.edu/~bgmomb/research.html\">Baier, J.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 21st National Conference on Artificial Intelligence (AAAI06)</i>, pages 788-795, Boston, MA, July 2006. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf\"\n     onclick=\"log_download('baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006', 'https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planning with First-Order Temporally Extended Goals Using Heuristic Search [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('baier-mcilraith-planningwithfirstordertemporallyextendedgoalsusingheuristicsearch-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{bai-mci-aaai06,\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-mci-aaai06.pdf},\r\n  author = {Baier, J. and McIlraith, S.},\r\n  title = {Planning with First-Order Temporally Extended Goals Using Heuristic Search},\r\n  booktitle = {Proceedings of the 21st National Conference on Artificial Intelligence (AAAI06)},\r\n  address = {Boston, MA},\r\n  month   = {July},\r\n  pages = {788-795},\r\n  year = 2006,\r\n  keywords = {LTL, planning}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006', 'https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf', event);\">\n    Planning with Temporally Extended Goals Using Heuristic Search.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"http://www.cs.toronto.edu/~bgmomb/research.html\">Baier, J.</a>;  and <a class=\"bibbase author link\" href=\"https://www.cs.toronto.edu/~toryn/test/publications/ltl_rl.html\">McIlraith, S.</a>\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS06)</i>, pages 342-345, Lake District, UK, June 2006. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf\"\n     onclick=\"log_download('baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006', 'https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Planning with Temporally Extended Goals Using Heuristic Search [pdf]\"\n       title=\"paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('baier-mcilraith-planningwithtemporallyextendedgoalsusingheuristicsearch-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ bai-mci-icaps06,\r\n  url = {https://www.cs.toronto.edu/~sheila/publications/bai-mci-icaps06.pdf},\r\n  author = {Baier, J. and McIlraith, S.},\r\n  title = {Planning with Temporally Extended Goals Using Heuristic Search},\r\n  booktitle = {Proceedings of the 16th International Conference on Automated Planning and Scheduling (ICAPS06)},\r\n  year = 2006,\r\n  address = {Lake District, UK},\r\n  pages = {342-345},\r\n  month   = {June},\r\n  keywords = {planning, LTL}\r\n}\r\n\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);