UNIVERSITY AT BUFFALO - STATE UNIVERSITY OF NEW YORK
The Department of Computer Science & Engineering
cse@buffalo
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Cognitive Robotics/Embodied Agents

We are engaged in designing and implementing cognitive robots/embodied agents that: can use natural language; can reason, sense, and act; and that have models of themselves and others (are self-aware). The architecture we have designed, and have been using for this, is GLAIR---The Grounded Layered Architecture with Integrated Reasoning. GLAIR distinguishes the mental level of the architecture from the body level. The mental level is implemented in SNePS. The body level has been implemented in various languages and systems for hardware and software-simulated robots.
Contents
Agents in Virtual Reality Dramas
Architectures for Embodied Agents
Identifying Perceptually Indistinguishable Objects
Java Karel Agents
Hardware Cognitive Robots
Papers on GLAIR, Embodied Agents, and the SNePS Acting Model

Agents in Virtual Reality Dramas
We are creating agents that will serve as actors in a virtual reality interactive drama being developed in the Department of Media Study titled The Trial, The Trail. Each agent actor will possess a sense of time, be self-aware, and be aware of the human participant and of the other agents, with whom it will interact. Its modalities will include vision, speech, hearing, and self-perception. It will react to the participant's speech and movements, while adhering to a pre-scripted story arc.

Papers on Agents in Virtual Reality Dramas

  1. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, & Orkan Telhan, MGLAIR Agents in Virtual and other Graphical Environments, Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05), AAAI Press, Menlo Park, CA, 2005, 1704-1705.

  2. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, & Orkan Telhan, The Trial The Trail, Act 3: A Virtual Reality Drama Using Intelligent Agents. In R. Michael Young & John Laird, Eds., Proceedings of the First Annual Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE-05), AAAI Press, Menlo Park, CA, 2005, 157-158.

  3. Trupti Devdas Nayak, Patofil: An MGLAIR Agent for a Virtual Reality Drama, SNeRG Technical Note 38, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, May 10, 2005.

  4. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, Orkan Telhan, MGLAIR Agents in a Virtual Reality Drama, Technical Report 2005-08, Department of Computer Science & Engineering, University at Buffalo, Buffalo, NY, March 30, 2005.

  5. Josephine Anstey, Dave Pape, Stuart C. Shapiro, Orkan Telhan and Trupti Devdas Nayak, Psycho-Drama in VR, Proceedings of The Fourth Conference on Computation Semiotics (COSIGN 2004), University of Split, Croatia, 2004, 5-13.

  6. Vikranth B. Rao, Princess Cassie: An Embodied Cognitive Agent in a Virtual World, Advanced Honors Thesis, Department of Computer Science and Engineering, State University of New York at Buffalo, April, 2004.

  7. Josephine Anstey, Dave Pape, Stuart C. Shapiro, and Vikranth Rao, Virtual Drama with Intelligent Agents. In Hal Thwaites, Ed., Hybrid Reality: Art, Technology and the Human Factor, Proceedings of the Ninth International Conference on Virtual Systems and MultiMedia (VSMM), International Society on Virtual Systems and MultiMedia, 2003, 521-528.

Architectures for Embodied Agents

Papers on Architectures for Embodied Agents

  1. Stuart C. Shapiro and Jonathan P. Bona, The GLAIR Cognitive Architecture. In Alexei Samsonovich, Ed., Biologically Inspired Cognitive Architectures-II: Papers from the AAAI Fall Symposium, Technical Report FS-09-01, AAAI Press, Menlo Park, CA, 2009, 141-152.

  2. Stuart C. Shapiro, William J. Rapaport, Michael Kandefer, Frances L. Johnson, and Albert Goldfain, Metacognition in SNePS, AI Magazine 28, 1 (Spring 2007), 17--31.

  3. Alistair E. R. Campbell and Debra T. Burhans, A Layered Heterogeneous Cognitive Robotics Architecture, In Michael Beetz, Kanna Rajan, Michael Thielscher, and Radu Bogday Rusu, Eds., Cognitive Robotics: Papers from the AAAI Workshop (CogRob2006) Technical Report WS-06-03, AAAI Press, Menlo Park, CA, 2006, 40-46.

  4. Stuart C. Shapiro and Haythem O. Ismail, Anchoring in a Grounded Layered Architecture with Integrated Reasoning, Robotics and Autonomous Systems 43, 2-3 (May 2003), 97-108.

  5. Henry Hexmoor & Stuart C. Shapiro, Integrating Skill and Knowledge in Expert Agents. In P. J. Feltovich, K. M. Ford, & R. R. Hoffman, Eds., Expertise in Context, AAAI Press/MIT Press, Menlo Park, CA / Cambridge, MA, 1997, 383-404.

  6. Henry Hexmoor, David Kortenkamp, & Ian Horswill, Software Architectures for Hardware Agents. Journal of Experimental and Theoretical Artificial Intelligence (JETAI) 9 (1997) 147-156.

  7. Henry Hexmoor & Stuart C. Shapiro, Architecture of a Communicating, Visually Driven Robot Assistant. Technical Report 96-16, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, October, 1996. 15 pages.

  8. Deepak Kumar. The SNePS BDI architecture. Decision Support Systems, 16, 1 (January) 3-19, 1996.

  9. Deepak Kumar and Stuart C. Shapiro. The OK BDI architecture. In E. A. Yfantis, editor, Intelligent Systems: Third Golden West International Conference: Edited and Selected Papers, pages 307-317. Kluwer Academic Publishers, Dordrecht, The Netherlands, 1995.

  10. Johan M. Lammens, Henry H. Hexmoor, and Stuart C. Shapiro. Of elephants and men. In Luc Steels, editor, The Biology and Technology of Intelligent Autonomous Agents, pages 312-344. Springer-Verlag, Berlin, 1995. (Preliminary, on-line version.)

  11. Deepak Kumar and Stuart C. Shapiro. The OK BDI architecture. International Journal on Artificial Intelligence Tools, 3(3):349-366, March 1994.

  12. Henry H. Hexmoor. A methodology for developing competent agents without sensor and actuator profusion. Technical Report 94-09, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, March 1994. 5 pages.

  13. Henry H. Hexmoor. What are routines good for? Technical Report 94-07, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, February 1994. 8 pages.

  14. Deepak Kumar. From Beliefs and Goals to Intentions and Actions: An Amalgamated Model of Inference and Acting. PhD thesis, Technical Report 94-04, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, 1994. 203 pages.

  15. Henry Hexmoor, Johan Lammens, Guido Caicedo, and Stuart C. Shapiro. Behaviour based AI, cognitive processes, and emergent behaviors in autonomous agents. In G. Rzevski, J. Pastor, and R. Adey, Eds, Applications of Artificial Intelligence in Engineering VIII, Vol. 2 Applications and Techniques, Computational Mechanics/Elsevier, 1993, 447-461.

  16. Henry H. Hexmoor, Johan M. Lammens, and Stuart C. Shapiro. An autonomous agent architecture for integrating ``unconscious'' and ``conscious'', reasoned behaviors, Proc. Computer Architectures for Machine Perception, IEEE Computer Society Press, Los Alamitos, CA, 1993, 328-336.

  17. Henry Hexmoor, Johan Lammens, Guido Caicedo, and Stuart C. Shapiro. Behavior based AI, cognitive processes, and emergent behaviors in autonomous agents. Technical Report 93-15, Department of Computer Science, University at Buffalo, Buffalo, NY, April 1993. 15 pages.

  18. Johan Lammens, Henry Hexmoor, and Stuart C. Shapiro. Of elephants and men. Technical Report 93-13, Department of Computer Science, University at Buffalo, Buffalo, NY, April 1993.

  19. Henry Hexmoor, Johan Lammens, and Stuart C. Shapiro. Embodiment in GLAIR: a grounded layered architecture with integrated reasoning for autonomous agents. In Douglas D. Dankel II and John Stewman, editors, Proceedings of The Sixth Florida AI Research Symposium (FLAIRS 93), pages 325-329. the Florida AI Research Society, April 1993.

  20. Henry Hexmoor, Johan Lammens, and Stuart C. Shapiro. An autonomous agent architecture for integrating perception and acting with grounded, embodied symbolic reasoning. Technical Report 92-21, Department of Computer Science, University at Buffalo, Buffalo, NY, September 1992. 22 pages.

Identifying Perceptually Indistinguishable Objects
An agent interacting with the world will often encounter objects that appear the same to its perceptual system. We call these objects perceptually indistinguishable objects (PIOs). The goal of this project is the development of a cognitively motivated computational theory of identifying PIOs based on a set of experiments conducted with human participants. An implementation is under development.

Papers on Identifying PIOs

  1. John Santore, Identifying Perceptually Indistinguishable Objects, PhD Dissertation, Technical Report 2005-13, Department of Computer Science and Engineering, University at Buffalo, The State University of New York, January 24, 2005.

  2. John F. Santore and Stuart C. Shapiro, A Cognitive Robotics Approach to Identifying Perceptually Indistinguishable Objects. In Alan Schultz, Ed., The Intersection of Cognitive Science and Robotics: From Interfaces to Intelligence, Papers from the 2004 AAAI Fall Symposium, Technical Report FS-04-05, AAAI Press, Menlo Park, CA, 2004, 47-54.

  3. John F. Santore and Stuart C. Shapiro, Identifying an Object that is Perceptually Indistinguishable from one Previously Perceived (student abstract), Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-04), AAAI Press/The MIT Press, Menlo Park, CA, 2004, 968-969.

  4. John F. Santore and Stuart C. Shapiro, Identifying Perceptually Indistinguishable Objects. In Silvia Coradeschi & Alessandro Saffiotti, Eds., Anchoring Symbols to Sensor Data, Papers from the AAAI Workshop, Technical Report WS-04-03, AAAI Press, Menlo Park, CA, 2004, 1-9.

  5. John F. Santore and Stuart C. Shapiro, Crystal Cassie: Use of a 3-D Gaming Environment for a Cognitive Agent. In R. Sun, Ed., Papers of the IJCAI 2003 Workshop on Cognitive Modeling of Agents and Multi-Agent Interactions, IJCAII, Acapulco, Mexico, August 9, 2003, 84-91.

  6. John F. Santore and Stuart C. Shapiro, Identifying Perceptually Indistinguishable Objects: Is that the same one you saw before?, Chitta Baral & Sheila McIlraith, Eds., Cognitive Robotics (CogRob2002), Papers from the AAAI Workshop, Technical Report WS-02-05, AAAI Press, Menlo Park, CA, 2002, 96-102.

Java Karel Agents
We are using a Java version of Karel the Robot obtained from Byron Weber Becker as a general graphical agent/environment. The figure at the left shows such an agent in the role of the wumpus-world agent from Russell & Norvig's Artificial Intelligence: A Modern Approach, as reported in Shapiro and Kandefer, 2005.

Papers on Java Karel Agents

  1. Stuart C. Shapiro and Michael Kandefer, A SNePS Approach to The Wumpus World Agent or Cassie Meets the Wumpus. In Leora Morgenstern and Maurice Pagnucco, Eds., IJCAI-05 Workshop on Nonmonotonic Reasoning, Action, and Change (NRAC'05): Working Notes, IJCAII, Edinburgh, 2005, 96-103.

Hardware Cognitive Robots
We are experimenting with hardware-based cognitive robots using a Magellan Pro robot from iRobot, Rovio robots from WowWeeTM, and other robots.

Papers from the Spring 2009 Seminar on Cognitive Robotics

  1. Jonathan Bona and Michael Prentice, PyRovio: Python API for WowWee Rovio, Department of Computer Science and Engineering, University at Buffalo, May, 2009.
  2. Peter Hoellig, Cognitive Rovios---Connection to the SNePS System, Department of Computer Science and Engineering, University at Buffalo, May, 2009.
  3. Michael Kandefer, Cassie Can Speak: A .NET Interface to a Robotic Fevahr, Department of Computer Science and Engineering, University at Buffalo, May, 2009.
  4. Stephen Pfetsch, Masquerade: A Cognitive Robotics Game and its First Player, Department of Computer Science and Engineering, University at Buffalo, May, 2009.
  5. Scott Settembre, Cognitive Rovio: Using RovioWrap and .NET to Control a Rovio, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

Magellan Pro Robot References

  1. iRobot Corp, Mobility Robot Integration Software User's Guide
  2. RPI, CSCI-4190 Introduction to Robotic Algorithms, Spring 2002, An introduction to the Magellan Pro robot

Papers on Magellan Agents

  1. Timothy J. Burns, The Magellan is Back: Player/Stage on the Magellan Pro Robot, SNeRG Technical Note 40, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, December 14, 2007.

  2. Isidore Dinga Madou, GLAIR Agents on the iRobot Magellan Pro Robot, SNeRG Technical Note 37, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, December 27, 2004.

  3. Trupti Devdas Nayak, Michael Kandefer, and Lunarso Sutanto, Reinventing the Reinvented Shakey in SNePS, SNeRG Technical Note 36, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, April 6, 2004.

Papers on GLAIR, Embodied Agents, and the SNePS Acting Model
  1. Stuart C. Shapiro and Jonathan P. Bona, The GLAIR Cognitive Architecture. In Alexei Samsonovich, Ed., Biologically Inspired Cognitive Architectures-II: Papers from the AAAI Fall Symposium, Technical Report FS-09-01, AAAI Press, Menlo Park, CA, 2009, 141-152.

  2. Jonathan Bona and Michael Prentice, PyRovio: Python API for WowWee Rovio, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

  3. Peter Hoellig, Cognitive Rovios---Connection to the SNePS System, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

  4. Michael Kandefer, Cassie Can Speak: A .NET Interface to a Robotic Fevahr, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

  5. Stephen Pfetsch, Masquerade: A Cognitive Robotics Game and its First Player, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

  6. Scott Settembre, Cognitive Rovio: Using RovioWrap and .NET to Control a Rovio, Department of Computer Science and Engineering, University at Buffalo, May, 2009.

  7. Timothy J. Burns, The Magellan is Back: Player/Stage on the Magellan Pro Robot, SNeRG Technical Note 40, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, December 14, 2007.

  8. Michael Kandefer and Stuart C. Shapiro, Knowledge Acquisition by an Intelligent Acting Agent. In Eyal Amir, Vladimir Lifschitz, and Rob Miller, Eds., Logical Formalizations of Commonsense Reasoning, Papers from the AAAI Spring Symposium Technical Report SS-07-05, AAAI Press, Menlo Park, CA, 2007, 77-82.

  9. Stuart C. Shapiro, William J. Rapaport, Michael Kandefer, Frances L. Johnson, and Albert Goldfain, Metacognition in SNePS, AI Magazine 28, 1 (Spring 2007), 17--31.

  10. Michael Kandefer and Stuart C. Shapiro, Knowledge Acquisition by an Intelligent Acting Agent, Commonsense 2007, The 8th International Symposium on Logical Formalizations of Commonsense Reasoning, Papers from the 2007 AAAI Spring Symposium, AAAI Press, Menlo Park, CA, 2007, in press.

  11. Alistair E. R. Campbell and Debra T. Burhans, A Layered Heterogeneous Cognitive Robotics Architecture, In Michael Beetz, Kanna Rajan, Michael Thielscher, and Radu Bogday Rusu, Eds., Cognitive Robotics: Papers from the AAAI Workshop (CogRob2006) Technical Report WS-06-03, AAAI Press, Menlo Park, CA, 2006, 40-46.

  12. Albert Goldfain, Embodied Enumeration: Appealing to Activities for Mathematical Explanation In Michael Beetz, Kanna Rajan, Michael Thielscher, and Radu Bogday Rusu, Eds., Cognitive Robotics: Papers from the AAAI Workshop (CogRob2006) Technical Report WS-06-03, AAAI Press, Menlo Park, CA, 2006, 69-76.

  13. Albert Goldfain, Michael W. Kandefer, Stuart C. Shapiro, and Josephine Anstey, Co-Designing Agents In Michael Beetz, Kanna Rajan, Michael Thielscher, and Radu Bogday Rusu, Eds., Cognitive Robotics: Papers from the AAAI Workshop (CogRob2006) Technical Report WS-06-03, AAAI Press, Menlo Park, CA, 2006, 77-82.

  14. Albert Goldfain, Michael W. Kandefer, Stuart C. Shapiro, and Josephine Anstey, Co-Designing Agents, Proceedings of the North East Student Colloquium on Artificial Intelligence (NESCAI '06), Cornell U., Ithaca, NY, 2006, 142-148.

  15. Stuart C. Shapiro, Conditional SNeRE Policies, SNeRG Technical Note 39, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, December 15, 2005.

  16. Stuart C. Shapiro and Michael Kandefer, A SNePS Approach to The Wumpus World Agent or Cassie Meets the Wumpus. In Leora Morgenstern and Maurice Pagnucco, Eds., IJCAI-05 Workshop on Nonmonotonic Reasoning, Action, and Change (NRAC'05): Working Notes, IJCAII, Edinburgh, 2005, 96-103.

  17. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, & Orkan Telhan, MGLAIR Agents in Virtual and other Graphical Environments, Proceedings of the Twentieth National Conference on Artificial Intelligence (AAAI-05), AAAI Press, Menlo Park, CA, 2005, 1704-1705.

  18. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, & Orkan Telhan, The Trial The Trail, Act 3: A Virtual Reality Drama Using Intelligent Agents. In R. Michael Young & John Laird, Eds., Proceedings of the First Annual Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE-05), AAAI Press, Menlo Park, CA, 2005, 157-158.

  19. Trupti Devdas Nayak, Patofil: An MGLAIR Agent for a Virtual Reality Drama, SNeRG Technical Note 38, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, May 10, 2005.

  20. Stuart C. Shapiro, Josephine Anstey, David E. Pape, Trupti Devdas Nayak, Michael Kandefer, Orkan Telhan, MGLAIR Agents in a Virtual Reality Drama, Technical Report 2005-08, Department of Computer Science & Engineering, University at Buffalo, Buffalo, NY, March 30, 2005.

  21. John Santore, Identifying Perceptually Indistinguishable Objects, PhD Dissertation, Technical Report 2005-13, Department of Computer Science and Engineering, University at Buffalo, The State University of New York, January 24, 2005.

  22. Isidore Dinga Madou, GLAIR Agents on the iRobot Magellan Pro Robot, SNeRG Technical Note 37, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, December 27, 2004.

  23. John F. Santore and Stuart C. Shapiro, A Cognitive Robotics Approach to Identifying Perceptually Indistinguishable Objects. In Alan Schultz, Ed., The Intersection of Cognitive Science and Robotics: From Interfaces to Intelligence, Papers from the 2004 AAAI Fall Symposium, Technical Report FS-04-05, AAAI Press, Menlo Park, CA, 2004, 47-54.

  24. Josephine Anstey, Dave Pape, Stuart C. Shapiro, Orkan Telhan and Trupti Devdas Nayak, Psycho-Drama in VR, Proceedings of The Fourth Conference on Computation Semiotics (COSIGN 2004), University of Split, Croatia, 2004, 5-13.

  25. John F. Santore and Stuart C. Shapiro, Identifying an Object that is Perceptually Indistinguishable from one Previously Perceived (student abstract), Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-04), AAAI Press/The MIT Press, Menlo Park, CA, 2004, 968-969.

  26. John F. Santore and Stuart C. Shapiro, Identifying Perceptually Indistinguishable Objects. In Silvia Coradeschi & Alessandro Saffiotti, Eds., Anchoring Symbols to Sensor Data, Papers from the AAAI Workshop, Technical Report WS-04-03, AAAI Press, Menlo Park, CA, 2004, 1-9.

  27. Albert Goldfain, Using SNePS for Mathematical Cognition: A SNeRE Based Natural Language Algorithm for Computing GCD, CSE740 Progress Report, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, April 29, 2004.

  28. Vikranth B. Rao, Princess Cassie: An Embodied Cognitive Agent in a Virtual World, Advanced Honors Thesis, Department of Computer Science and Engineering, State University of New York at Buffalo, April, 2004.

  29. Stuart C. Shapiro, Interests and Background Relevant to Self-Aware Computer Systems, a position statement for the DARPA Workshop on Self-Aware Computer Systems, Washington, DC, April 27-28, 2004.

  30. Trupti Devdas Nayak, Michael Kandefer, and Lunarso Sutanto, Reinventing the Reinvented Shakey in SNePS, SNeRG Technical Note 36, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, April 6, 2004.

  31. Josephine Anstey, Dave Pape, Stuart C. Shapiro, and Vikranth Rao, Virtual Drama with Intelligent Agents. In Hal Thwaites, Ed., Hybrid Reality: Art, Technology and the Human Factor, Proceedings of the Ninth International Conference on Virtual Systems and MultiMedia (VSMM), International Society on Virtual Systems and MultiMedia, 2003, 521-528.

  32. Stuart C. Shapiro, FevahrCassie: A Description and Notes for Building FevahrCassie-Like Agents, SNeRG Technical Note 35, Department of Computer Science and Engineering, University at Buffalo, The State Universtiy of New York, Buffalo, NY, September 26, 2003.

  33. John F. Santore and Stuart C. Shapiro, Crystal Cassie: Use of a 3-D Gaming Environment for a Cognitive Agent. In R. Sun, Ed., Papers of the IJCAI 2003 Workshop on Cognitive Modeling of Agents and Multi-Agent Interactions, IJCAII, Acapulco, Mexico, August 9, 2003, 84-91.

  34. Stuart C. Shapiro and Haythem O. Ismail, Anchoring in a Grounded Layered Architecture with Integrated Reasoning, Robotics and Autonomous Systems 43, 2-3 (May 2003), 97-108.

  35. John F. Santore and Stuart C. Shapiro, Identifying Perceptually Indistinguishable Objects: Is that the same one you saw before?, Chitta Baral & Sheila McIlraith, Eds., Cognitive Robotics (CogRob2002), Papers from the AAAI Workshop, Technical Report WS-02-05, AAAI Press, Menlo Park, CA, 2002, 96-102.

  36. Haythem O. Ismail and Stuart C. Shapiro, The Cognitive Clock: A Formal Investigation of the Epistemology of Time, Technical Report 2001-08, Department of Computer Science and Engineering, University at Buffalo, Buffalo, NY, July 26, 2001. (pdf version)

  37. Haythem O. Ismail, Reasoning and Acting in Time, PhD dissertation, Technical Report 2001-11, Department of Computer Science and Engineering, University at Buffalo, The State University of New York, Buffalo, NY, August, 2001. (pdf version)

  38. Stuart C. Shapiro and Haythem O. Ismail, Symbol-Anchoring in Cassie, Silvia Coradeschi & Alessandro Saffioti, Eds., Anchoring Symbols to Sensor Data in Single and Multiple Robot Systems: Papers from the 2001 AAAI Fall Symposium, Technical Report FS-01-01, AAAI Press, 2001, 2-8. (ps version)

  39. Stuart C. Shapiro, Eyal Amir, Henrik Grosskreutz, David Randell, and Mikhail Soutchanski, Commonsense and Embodied Agents: A Panel Discussion, Common Sense 2001: The Fifth International Symposium on Logical Formalizations of Commonsense Reasoning, Courant Institute of Mathematical Sciences, New York University, New York, NY, May 20-22, 2001. (pdf version)

  40. Haythem O. Ismail and Stuart C. Shapiro, Conscious Error Recovery and Interrupt Handling. In H. R. Arabnia, Ed., Proceedings of the International Conference on Artificial Intelligence (IC-AI'2000), CSREA Press, Las Vegas, NV, 2000, 633-639.

  41. Haythem O. Ismail and Stuart C. Shapiro, Two Problems with Reasoning and Acting in Time. In A. G. Cohn, F. Giunchiglia, & B. Selman, Eds., Principles of Knowledge Representation and Reasoning: Proceedings of the Seventh International Conference (KR 2000), Morgan Kaufmann, San Francisco, 2000, 355-365.

  42. Stuart C. Shapiro, Haythem O. Ismail, and John F. Santore, Our Dinner with Cassie, Working Notes for the AAAI 2000 Spring Symposium on Natural Dialogues with Practical Robotic Devices, AAAI Press, Menlo Park, CA, 2000, 57-61.

  43. Haythem O. Ismail and Stuart C. Shapiro, Cascaded Acts: Conscious Sequential Acting for Embodied Agents, Technical Report 99-10, Department of Computer Science and Engineering, University at Buffalo, Buffalo, NY, November 1, 1999.

  44. Stuart C. Shapiro, Embodied Cassie, Cognitive Robotics: Papers from the 1998 AAAI Fall Symposium, Technical Report FS-98-02, AAAI Press, Menlo Park, CA, 1998, 136-143.

  45. Henry Hexmoor & Stuart C. Shapiro, Integrating Skill and Knowledge in Expert Agents. In P. J. Feltovich, K. M. Ford, & R. R. Hoffman, Eds., Expertise in Context, AAAI Press/MIT Press, Menlo Park, CA / Cambridge, MA, 1997, 383-404.

  46. Henry Hexmoor, David Kortenkamp, & Ian Horswill, Software Architectures for Hardware Agents. Journal of Experimental and Theoretical Artificial Intelligence (JETAI) 9 (1997) 147-156.

  47. Henry Hexmoor & Stuart C. Shapiro, Architecture of a Communicating, Visually Driven Robot Assistant. Technical Report 96-16, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, October, 1996. 15 pages.

  48. Deepak Kumar. The SNePS BDI architecture. Decision Support Systems, 16, 1 (January) 3-19, 1996.

  49. Henry H. Hexmoor Representing and Learning Routine Activities. Unpublished PhD Dissertation, Department of Computer Science, University at Buffalo, December, 1995.

  50. Henry Hexmoor and David Kortenkamp. Issues on building software for hardware agents. The Knowledge Engineering Review, 10(3):301-304, 1995.

  51. Deepak Kumar and Stuart C. Shapiro. The OK BDI architecture. In E. A. Yfantis, editor, Intelligent Systems: Third Golden West International Conference: Edited and Selected Papers, pages 307-317. Kluwer Academic Publishers, Dordrecht, The Netherlands, 1995.

  52. Johan M. Lammens, Henry H. Hexmoor, and Stuart C. Shapiro. Of elephants and men. In Luc Steels, editor, The Biology and Technology of Intelligent Autonomous Agents, pages 312-344. Springer-Verlag, Berlin, 1995. (Preliminary, on-line version.)

  53. Deepak Kumar, Susan Haller, & Syed S. Ali, Towards a Unified AI Formalism. In Jay F. Nunamaker, Jr. and Ralph H. Sprague, Jr., editors, Proceedings of the Twenty-Seventh Hawaii International Conference on Systems Sciences Volume III, IEEE Computer Society Press, Los Alamitos, CA, 1994, 92-101.

  54. Deepak Kumar and Stuart C. Shapiro. The OK BDI architecture. International Journal on Artificial Intelligence Tools, 3(3):349-366, March 1994.

  55. Deepak Kumar and Stuart C. Shapiro. Acting in service of inference (and vice versa). In Douglas D. Dankel II, editor, Proceedings of the Seventh Florida Artificial Intelligence Research Symposium, pages 207-211. the Florida AI Research Society, St. Petersburg, FL, May 1994.

  56. Henry H. Hexmoor. A methodology for developing competent agents without sensor and actuator profusion. Technical Report 94-09, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, March 1994. 5 pages.

  57. Henry H. Hexmoor. What are routines good for? Technical Report 94-07, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, February 1994. 8 pages.

  58. Deepak Kumar. From Beliefs and Goals to Intentions and Actions: An Amalgamated Model of Inference and Acting. PhD thesis, Technical Report 94-04, Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, 1994. 203 pages.

  59. Henry Hexmoor, Johan Lammens, Guido Caicedo, and Stuart C. Shapiro. Behaviour based AI, cognitive processes, and emergent behaviors in autonomous agents. In G. Rzevski, J. Pastor, and R. Adey, Eds, Applications of Artificial Intelligence in Engineering VIII, Vol. 2 Applications and Techniques, Computational Mechanics/Elsevier, 1993, 447-461.

  60. Henry H. Hexmoor, Johan M. Lammens, and Stuart C. Shapiro. An autonomous agent architecture for integrating ``unconscious'' and ``conscious'', reasoned behaviors, Proc. Computer Architectures for Machine Perception, IEEE Computer Society Press, Los Alamitos, CA, 1993, 328-336.

  61. Deepak Kumar and Stuart C. Shapiro. Deductive efficiency, belief revision and acting. Journal of Experimental and Theoretical Artificial Intelligence (JETAI), 5(2&3):167-177, April-September 1993.

  62. Henry Hexmoor, Johan Lammens, Guido Caicedo, and Stuart C. Shapiro. Behavior based AI, cognitive processes, and emergent behaviors in autonomous agents. Technical Report 93-15, Department of Computer Science, University at Buffalo, Buffalo, NY, April 1993. 15 pages.

  63. Johan Lammens, Henry Hexmoor, and Stuart C. Shapiro. Of elephants and men. Technical Report 93-13, Department of Computer Science, University at Buffalo, Buffalo, NY, April 1993.

  64. Henry Hexmoor, Johan Lammens, and Stuart C. Shapiro. Embodiment in GLAIR: a grounded layered architecture with integrated reasoning for autonomous agents. In Douglas D. Dankel II and John Stewman, editors, Proceedings of The Sixth Florida AI Research Symposium (FLAIRS 93), pages 325-329. the Florida AI Research Society, April 1993.

  65. Henry Hexmoor, Guido Caicedo, Frank Bidwell, and Stuart C. Shapiro. Air battle simulation: An agent with `conscious' and `unconscious' layers. In Daniel F. Boyd, editor, UBGCCS 93: Proceedings of The Eighth Annual University at Buffalo Graduate Conference on Computer Science, Technical Report No. 93-14, pages 52-59. Department of Computer Science, State University of New York at Buffalo, Buffalo, NY, March 1993.

  66. Deepak Kumar. Rational engines for BDI architectures. In Amy Lansky, editor, Proceedings of The 1993 AAAI Spring Symposium on Foundations of Automated Planning, pages 78-82. AAAI Press, March 1993.

  67. Deepak Kumar. A unified model of acting and inference. In Jay F. Nunamaker, Jr. and Ralph H. Sprague, Jr., editors, Proceedings of the Twenty-Sixth Hawaii International Conference on System Sciences Volume III, IEEE Computer Society Press, Los Alamitos, CA, 1993, 483-492.

  68. Deepak Kumar & Stuart C. Shapiro, Deductive efficiency + belief revision: how they affect an ontology of actions and acting. In Working Notes of the AAAI 1992 Spring Symposium on Propositional Knowledge Representation, AAAI Press, March, 1992, 93-99.

  69. Henry Hexmoor and Donald Nute. Methods for deciding what to do next and learning. Technical Report 92-23, Department of Computer Science, University at Buffalo, Buffalo, NY, September 1992. 20 pages.

  70. Henry Hexmoor, Johan Lammens, and Stuart C. Shapiro. An autonomous agent architecture for integrating perception and acting with grounded, embodied symbolic reasoning. Technical Report 92-21, Department of Computer Science, University at Buffalo, Buffalo, NY, September 1992. 22 pages.

  71. Deepak Kumar and Stuart C. Shapiro. Modeling a rational cognitive agent in SNePS. In P. Barahona, L. Moniz Pereira, and A. Porto, editors, EPIA 91: 5th Portugese Conference on Artificial Intelligence, Lecture Notes in Artificial Intelligence 541, pages 120-134. Springer-Verlag, Heidelberg, 1991.

  72. Deepak Kumar and Stuart C. Shapiro. Architecture of an intelligent agent in SNePS. SIGART Bulletin, 2(4):89-92, August 1991.

  73. D. Kumar, S. S. Ali, J. Haas, and S. C. Shapiro. The SNePS acting system. In K. E. Bettinger and G. Srikantan, editors, Proceedings of the Fifth Annual University at Buffalo Graduate Conference on Computer Science, pages 91-100, 1990.

  74. R. R. Dipert. The structure of agency: Issues in the representation of agency and action. In D. Kumar, editor, Current Trends in SNePS-Semantic Network Processing System: Proceedings of the First Annual SNePS Workshop, pages 67-84, Buffalo, NY, 1990. Springer-Verlag.

  75. D. Kumar. An integrated model of acting and inference. In D. Kumar, editor, Current Trends in SNePS-Semantic Network Processing System: Proceedings of the First Annual SNePS Workshop, pages 55-65, Buffalo, NY, 1990. Springer-Verlag.

  76. S. C. Shapiro, D. Kumar, and S. Ali. A propositional network approach to plans and plan recognition. In Proceedings of the AAAI 1988 Workshop on Plan Recognition, page 21, Los Altos, CA, 1989. Morgan Kaufmann.

  77. Deepak Kumar, Syed Ali, and Stuart C. Shapiro. Discussing, using and recognizing plans in SNePS preliminary report--SNACTor: An acting system. In P V S Rao and P Sadanandan, editors, Modern Trends in Information Technology: Proceedings of the Seventh Biennial Convention of South East Asia Regional Computer Confederation, pages 177-182. Tata McGraw-Hill, New Delhi, India, 1988.

  78. S. C. Shapiro. Representing plans and acts. In Proceedings of the Third Annual Workshop on Conceptual Graphs, pages 3.2.7-1 - 3.2.7-6. The American Association for Artificial Intelligence, Menlo Park, CA, 1988.

  79. E. J. Morgado and S. C. Shapiro. Believing and acting: A study of meta-knowledge and meta-reasoning. In Proceedings of EPIA-85 (``Encontro Portugues de Inteligencia Artificial''), pages 138-154, Oporto, Portugal, 1985.
  80. E. J. Morgado and S. C. Shapiro. Believing and acting: An approach to meta-knowledge and meta-reasoning. SNeRG Technical Note 11, Department of Computer Science, University at Buffalo, 1983.
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Stuart C. Shapiro <shapiro@cse.buffalo.edu>
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