Publications
Google Scholar DBLP ORCID Download full bibliography (.bib)
Conference Papers
- Satisficing and Optimal Generalised Planning via Goal Regression. Proceedings of the 40th AAAI Conference on Artificial Intelligence (AAAI), 2026. DOI · Video
- Decidable Reasoning about Time in Finite-Domain Situation Calculus Theories. Proceedings of the 33rd International Symposium on Temporal Representation and Reasoning (TIME), 2026. DOI · arXiv · Slides
- WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League. RoboCup 2026: Robot World Cup XXIX, 2026. To appear. Link
- From Production Logistics to Smart Manufacturing: The Vision for a New RoboCup Industrial League. RoboCup 2025: Robot World Cup XXVIII, 2025. arXiv
- LTLf Synthesis on First-Order Agent Programs in Nondeterministic Environments. Proceedings of the 39th AAAI Conference on Artificial Intelligence (AAAI), 2025, pp. 14976–14986. DOI · PDF · Poster · Slides
- Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing. RoboCup 2024: Robot World Cup XXVII, 2025, pp. 32–43. DOI
- Learning Generalized Policies for Fully Observable Non-Deterministic Planning Domains. Proceedings of the 33rd International Joint Conference on Artificial Intelligence (IJCAI), 2024, pp. 6733–6742. DOI · Poster
- Abstracting Noisy Robot Programs. Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2023. arXiv · Link
- Winning the RoboCup Logistics League with Visual Servoing and Centralized Goal Reasoning. RoboCup 2022: Robot World Cup XXV, 2023, pp. 300–312. DOI
- Using Platform Models for a Guided Explanatory Diagnosis Generation for Mobile Robots. Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), 2021, pp. 1908–1914. DOI
- Multi-Agent Goal Reasoning with the CLIPS Executive in the RoboCup Logistics League. Proceedings of the 13th International Conference on Agents and Artifical Intelligence (ICAART), 2021, pp. 80–91. DOI
- TACoS: A Tool for MTL Controller Synthesis. Proceedings of the 19th International Conference on Software Engineering and Formal Methods (SEFM), 2021, pp. 372–379. DOI · Code
- Portable High-Level Agent Programming with Golog++. Proceedings of the 13th International Conference on Agents and Artifical Intelligence (ICAART), 2021, pp. 218–227. DOI · Code
- Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints. Proceedings of the 30th International Joint Conference on Artificial Intelligence (IJCAI), 2021, pp. 2083–2089. DOI
- Macro Operator Synthesis for ADL Domains. Proceedings of the 24th European Conference on Artificial Intelligence (ECAI), 2020. DOI
- Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning. RoboCup 2019: Robot World Cup XXIII, 2019, pp. 504–516. DOI
- Goal Reasoning in the CLIPS Executive for Integrated Planning and Execution. Proceedings of the 29th International Conference on Automated Planning and Scheduling (ICAPS), 2019, pp. 754–763. DOI
- Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017. RoboCup 2017: Robot World Cup XXI, 2018, pp. 486–497. DOI
- Initial Results on Generating Macro Actions from a Plan Database for Planning on Autonomous Mobile Robots. Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS), 2017, pp. 498–503. DOI
- Continual Planning in Golog. Proceedings of the 30th Conference on Artificial Intelligence (AAAI), 2016, pp. 3346–3353. DOI
Journal Articles
- Controlling Timed Automata against MTL Specifications with TACoS. Science of Computer Programming, vol. 225, 2023, art. 102898. DOI · Code
Workshop Papers
- Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning. ICAPS Workshop on Generalization in Planning (GenPlan), 2026. arXiv
- Abstraction via Skolemization for Generalized Planning. ICAPS Workshop on Generalization in Planning (GenPlan), 2026. Also presented at the KR Workshop on Theory and Methods for Abstraction (THEMA). Link
- Learning General Policies for Partially Observable Deterministic Planning. ICAPS Workshop on Generalization in Planning (GenPlan), 2026.
- Moose: Satisficing and Optimal Generalised Planning via Goal Regression. Proceedings of the First International Workshop on Trends in Knowledge Representation and Reasoning (TKR), 2025, pp. 46–68. DOI
- Strategy Synthesis for First-Order Agent Programs over Finite Traces. Proceedings of the 35th Nordic Workshop on Programming Theory (NWPT), 2024.
- Using Abstraction for Interpretable Robot Programs in Stochastic Domains. KR Workshop on Explainable Logic-Based Knowledge Representation (XLoKR), 2022. arXiv
- Towards Using Promises for Multi-Agent Cooperation in Goal Reasoning. ICAPS Workshop on Planning and Robotics (PlanRob), 2022. arXiv · Code
- Constraint-Based Plan Transformation in a Safe and Usable GOLOG Language. IROS Workshop on Bringing Constraint-Based Robot Programming to Real-World Applications (CobaRoP), 2020. Link · Video
- Constraint-Based Online Transformation of Abstract Plans into Executable Robot Actions. AAAI Spring Symposium: Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy (SIRLE), 2018.
- A Logic for Specifying Metric Temporal Constraints for Golog Programs. Proceedings of the 11th Cognitive Robotics Workshop 2018 (CogRob), 2018, pp. 36–46.
- CLIPS-Based Execution for PDDL Planners. ICAPS Workshop on Integrated Planning, Acting, and Execution (IntEx), 2018. Link
Theses
- Towards Bridging the Gap between High-Level Reasoning and Execution on Robots. RWTH Aachen University, 2023. DOI
- Generating Macro Actions from a Plan Database for Planning on Mobile Robots. RWTH Aachen University, 2017.
- Continual Planning and Execution Monitoring in the Agent Language Golog on a Mobile Robot. RWTH Aachen University, 2015.
Posters and Invited Talks
- Controlling Golog Programs against MTL Constraints. Dagstuhl Seminar on Cognitive Robotics, 2022. arXiv
- Machine Learning – Eine Standortbestimmung. DGN-Kongress (Deutsche Gesellschaft für Neurologie), 2022.
- Controller Synthesis for Golog Programs over Finite Domains with Metric Temporal Constraints. 17th International Conference on Principles of Knowledge Representation and Reasoning, 2020. arXiv