Publications

Selected Publications

@inproceedings{Col20:Partially,
  author = {Nicholas Collins and Hanna Kurniawati},
  title = {Partially Observable Planning and Learning for Systems with Non-Uniform Dynamics},
  booktitle = "Proc. Australasian Conference on Robotics and Automation",
  year = {2020},
  url = {papers/acra20_partially.pdf},
  note = {The Alberto Elfes Best Paper Award}
}

@inproceedings{Col20:Locally,
  title={Locally-Connected Interrelated Network: A Forward Propagation Primitive},
  booktitle = "Proc. Int. Workshop on The Algorithmic Foundations of Robotics (WAFR)",
  author={Nicholas Collins and Hanna Kurniawati},
  year = {2020},
  url = {papers/wafr20_lci.pdf},
}

@inproceedings{Sch20:POMDP,
  title={POMDP + Information-Decay: Incorporating Defender's Behaviour in Autonomous Penetration Testing},
  booktitle = {Proc. Int. Conference on Automated Planning and Scheduling (ICAPS)},
  author={Jonathon Schwartz and Hanna Kurniawati and Edwin El-Mahassni},
  year = {2020},
  url = {papers/icaps20pomdp.pdf},
}

@inproceedings{Wan19:Inventory,
  title={Inventory Control with Partially Observable States},
  booktitle = {Proc. Int. International Congress on Modelling and Simulation (MODSIM)},
  author={Erli Wang and Hanna Kurniawati and Dirk Kroese},
  year = {2019},
  url = {papers/modsim19_inventory.pdf},
}

@inproceedings{Hoe19:Multilevel,
  title={Multilevel Monte-Carlo for Solving POMDPs Online},
  booktitle = {Proc. Int. Symposium on Robotics Research (ISRR)},
  author={Marcus Hoerger and Hanna Kurniawati and Alberto Elfes},
  year = {2019},
  url = {papers/isrr19_mlmc.pdf},
}

@inproceedings{Hoe19:POMDP,
  title={POMDP-based Candy Server: Lessons Learned from a Seven Day Demo},
  booktitle = {Proc. Int. Conference on Automated Planning and Scheduling (ICAPS)},
  author={Marcus Hoerger and Joshua Song and Hanna Kurniawati and Alberto Elfes},
  year = {2019},
  url = {papers/icaps19_demo.pdf},
}

@inproceedings{Son19:Exploiting,
  title={Exploiting Trademark Databases for Robotic Object Fetching},
  booktitle = {Proc. IEEE Int. Conference on Robotics and Automation (ICRA)},
  author={Joshua Mun Song and Hanna Kurniawati},
  year = {2019},
  url = {papers/icra19_rdsl.pdf},
}

@inproceedings{Sno18:A,
  author = {Aaron Snoswell and Vektor Dewanto and Marcus Hoerger and Josua Song and Hanna Kurniawati and Surya Singh},
  title = {A Distributed, Any-time Robot Architecture for Robust Manipulation},
  booktitle = "Proc. Australasian Conference on Robotics and Automation",
  year = {2018},
  url = {papers/acra18_movo.pdf},
}

@inproceedings{Hoe18:A,
  title={A Software Framework for Planning under Partial Observability},
  booktitle = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots (IROS)},
  author={Marcus Hoerger and Hanna Kurniawati and Alberto Elfes},
  year = {2018},
  url = {papers/iros18_oppt.pdf},
}

@inproceedings{Wan18:An,
  title={An On-line Planner for POMDPs with Large Discrete Action Space: A Quantile-Based Approach},
  booktitle = {Proc. Int. Conference on Automated Planning and Scheduling (ICAPS)},
  author={Erli Wang and Hanna Kurniawati and Dirk Kroese},
  year = {2018},
  url = {papers/icaps18_qbase.pdf},
}

@inproceedings{Wan17:CEMAB,
  author = {Erli Wang and Hanna Kurniawati and Dirk Kroese},
  title = {CEMAB: A Cross-Entropy-based Method for Large-Scale Multi-Armed Bandits},  
    booktitle = "Proc. Australasian Conference on Artificial Life and Computational Intelligence (ACALCI)",
  year = {2017},
  url = {papers/acalci17_cemab.pdf},
}

@inproceedings{Hoe16:Linearization,
  author = {Marcus Hoerger and Hanna Kurniawati and Tirthankar Bandyopadhyay and Alberto Elfes},
  title = {Linearization in Motion Planning under Uncertainty},
  booktitle = "Proc. Int. Workshop on The Algorithmic Foundations of Robotics (WAFR)",
  year = {2016},
  url = {papers/wafr16_linearization.pdf},
  note = {including supplementary materials}
}

@inproceedings{Hoe16:Effects,
  author = {Marcus Hoerger and Hanna Kurniawati and Tirthankar Bandyopadhyay and Alberto Elfes},
  title = {Effects of Obstacle Avoidance to LQG-based Motion Planners},
  booktitle = "Proc. Australasian Conference on Robotics and Automation",
  year = {2016},
  url = {papers/acra16_linearization.pdf},
}

@article{Che15:Personal,
  author    = {L. Chen and X. Li and Y. Yang and H. Kurniawati and Q.Z. Sheng and H-Y Hu and N. Huang},
  title     = {Personal health indexing based on medical examinations: a data mining approach},
  journal   = {Decision Support Systems},
    volume      = {81},
    page            =   {54-61},
  year      = {2016},
  url       = {papers/dss_phi.pdf},
}

@inproceedings{Lit15:The,
  author = {Zakary Littlefield and Dimitri Klimenko and Hanna Kurniawati and Kostas E. Bekris},
  title = {The Importance of a Suitable Distance Function in Belief-Space Planning},
  booktitle = "Proc. Int. Symp. on Robotics Research",
  year = {2015},
  url = {papers/isrr15_beliefMetric.pdf},
}

@inproceedings{Sei15:An,
  title={An Online and Approximate Solver for POMDPs with Continuous Action Space},
  booktitle = {Proc. IEEE Int. Conference on Robotics and Automation (ICRA)},
  author={K. Seiler and H. Kurniawati and S.P.N. Singh},
  year = {2015},
  url = {papers/icra15_ctsActPomdp.pdf},
  note = {Best Conference Paper Award Finalist}
}

@inproceedings{Wan15:Insilico,
  title={In-silico Behavior Discovery System: An Application of Planning in Ethology},
  booktitle = {Proc. Int. Conference on Automated Planning and Scheduling (ICAPS)},
  author={H. Wang and H. Kurniawati and S.P.N. Singh and M.V. Srinivasan},
  year = {2015},
  url = {papers/icaps15_insilico.pdf},
  note = {Outstanding Student Paper Award}
}

@inproceedings{Kli14:Tapir,
  title={TAPIR: A Software Toolkit for Approximating and Adapting POMDP Solutions Online},
  booktitle = {Proc. Australasian Conference on Robotics and Automation},
  author={D. Klimenko and J. Song and. H. Kurniawati},
    year = {2014},
  url = {papers/acra14_tapir.pdf},
}

@inproceedings{Sin14:Charm,
    title = {CHARM: A Platform for Algorithmic Robotics Education and Research},
    booktitle = {Proc. IEEE/RSJ Int. Conference on Intelligent Robots and Systems},
  author={S.P.N. Singh and H. Kurniawati and K.S. Naveh and J. Song and T. Zastrow},
    year = {2014},
    url = {papers/iros14_charm.pdf},
}

@book{Fox14:RSS,
    author = {D. Fox and L.E. Kavraki and H. Kurniawati, editors},  
    title = {Robotics: Science and Systems (RSS) X},
    year = {2014},
}

@article{Pap14:Analysis,
  author    = {G. Papadopoulos and H. Kurniawati and N.M. Patrikalakis},
  title     = {Analysis of Asymptotically Optimal Sampling-based Motion Planning Algorithms for Lipschitz Continuous Dynamical Systems},
  journal   = {Arxiv, abs/1405.2872},
  year      = {2014},
  url       = {papers/arxiv14_optNoSteering.pdf},
}

@inproceedings{Kur13:An,
  author = {H. Kurniawati and V. Yadav},
  title = {An Online POMDP Solver for Uncertainty Planning in Dynamic Environment},
  booktitle = "Proc. Int. Symp. on Robotics Research",
  year = {2013},
  url = {papers/isrr13_abt.pdf},
}

@inproceedings{Wan13:Animal,
  author = {H. Wang and H. Kurniawati and S.P.N. Singh and M.V. Srinivasan},
  title = {Animal Locomotion In-Silico: A POMDP-Based Tool to Study Mid-Air Collision Avoidance Strategies in Flying Animals},
  booktitle = {Proc. Australasian Conference on Robotics and Automation},
  year = {2013},
  url = {papers/acra13_bee.pdf}
}

@article{Pap13:Experiments,
  author = {G. Papadopoulos and H. Kurniawati and A.S.B.M. Shariff and L.J. Wong and N.M. Patrikalakis},
  title = {Experiments on Surface Reconstruction for Partially Submerged Marine Structures},
  journal = {Journal of Field Robotics},
  year = {2013},
  url = {papers/jfr13_surfaceRecons.pdf}
}

@inproceedings{Sin13:IBall,
  author = {S. Singh and P. Pounds and H. Kurniawati},
  title = {I-Ball: A Programmable Sporting Aid for Children with a Visual Impairment to Play Soccer},
  booktitle = {Proc. Int. Conf. on Human-Computer Interaction},
  year = {2013},
  url = {papers/hci13_iball.pdf}
}

@inproceedings{Pap13:Asymptotically,
  author = {G. Papadopoulos and H. Kurniawati and N.M. Patrikalakis},
  title = {Asymptotically Optimal Inspection Planning using Systems with Differential Constraints},
  booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
  year = {2013},
    url = {papers/icra13-optInspection.pdf}
}

@inproceedings{Kur12:Point,
  author = {H. Kurniawati and N.M. Patrikalakis},
  title = {Point-Based Policy Transformation: Adapting Policy to Changing POMDP Models},
  booktitle =  "Proc. Int. Workshop on the Algorithmic Foundations of Robotics",
  year = {2012},
  url = {papers/wafr12_polDeform.pdf}
}

@article{Kur12:Global,
  author = {H. Kurniawati and T. Bandyopadhyay and N.M. Patrikalakis},
  title = {Global motion planning under uncertain motion, sensing, and environment map},
  journal = {Autonomous Robots: Special issue on RSS 2011},
  volume = {30},
  number = {3},
  year = {2012},
  url = {papers/auro11_gcs.pdf}
}

@inproceedings{Pap11:3D,
  author = {G. Papadopoulos and H. Kurniawati and A.S.B.M. Shariff and L.J. Wong and N.M. Patrikalakis},
  title = "3D-surface reconstruction for partially submerged marine structures using an Autonomous Surface Vehicle",
  booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
  year = {2011},
  url = {papers/iros11_modelBuild.pdf}
}

@inproceedings{Kur11:Global,
  author = {H. Kurniawati and T. Bandyopadhyay and N.M. Patrikalakis},
  title = {Global motion planning under uncertain motion, sensing, and environment map},
  booktitle = {Proc. Robotics: Science and Systems},
  year = {2011},
  url = {papers/rss11_gcs.pdf}
}

@inproceedings{Kur11:Infrastructure,
  author = {H. Kurniawati and J.C. Schulmeister and T. Bandyopadhyay and G. Papadopoulos and  F.S. Hover and N.M. Patrikalakis},
  title = {Infrastructure for 3D Model Reconstruction of Marine Structures},
  booktitle = {Proc. Int. Offshore and Polar Engineering Conference, International Society of Offshore and Polar Engineers (ISOPE)},
  url = {papers/isope11_infrastructure.pdf},
  year = {2011}
}

@article{Kur11:Motion,
  author = {H. Kurniawati and Y. Du and D. Hsu and W.S. Lee},
  title = {Motion planning under uncertainty for robotic tasks with long time horizons},
  journal = {Int. J. Robotics Research},
  volume = {30},
  number = {3},
  pages = {308--323},
  year = {2011},
  url = {papers/ijrr10_migs.pdf}
}

@InProceedings{Du10:A,
  Author = {Y.Z. Du and D. Hsu and H. Kurniawati and W.S. Lee and S.C.W. Ong and S.W. Png},
  Title = "A POMDP Approach to Robot Motion Planning under Uncertainty",
  Booktitle = {Int. Conf. on Automated Planning and Scheduling, Workshop on Solving Real-World POMDP Problems},
  URL = {papers/icaps10_pomdpApsInRobotics.pdf},
  Year = {2010}
}

@InProceedings{Pat10:Infrastructure,
  Author = {N.M. Patrikalakis and F.S. Hover and B.H. Ooi and H. Zheng and K.T. Yeo and W. Cho and T. Bandyopadhyay and A.C.H. Tan and H. Kurniawati and T. Taher and R.R. Khan},
  Title = {Infrastructure for Mobile Sensor Network in the Singapore Coastal Zone},
  Booktitle = "Proc. Int. Offshore and Polar Engineering Conference, International Society of Offshore and Polar Engineers (ISOPE)",
  URL = {papers/isope10_infrastructure.pdf},
  Year = {2010}
}

@INPROCEEDINGS{Kur09:Motion,
    Author = {H. Kurniawati and Y. Du and D. Hsu and W.S. Lee},
    Title = {Motion planning under uncertainty for robotic tasks with long time horizons},
    Booktitle = "Proc. Int. Symp. on Robotics Research",
    Year = {2009},
    URL = {papers/isrr09_MIGS.pdf},
}

@INPROCEEDINGS{Ooi09:Multi,
    Author = {B. H. Ooi and H. Zheng and H. Kurniawati and W. Cho and M. H. Dao and J. Wei and P. Zemskyy and P. Tkalich and P. Malanotte-Rizzoli and N. M. Patrikalakis},
    Title = {Multi-Vehicle Oceanographic Feature Exploration},
    Booktitle = "Proc. Int. Offshore and Polar Engineering Conference, International Society of Offshore and Polar Engineers (ISOPE)",
    Year = {2009},
    URL = {papers/isope09_janSeaTrial.pdf},
}

@INPROCEEDINGS{Ong09:Partially,
    Author = {S.C.W. Ong and D. Hsu and W.S. Lee and H. Kurniawati},
    Title = "Partially observable Markov decision process POMDP technologies for sign language based human-computer interaction" ,
    Year = {2009},
    Booktitle = {Proc. Int. Conf. on Human-Computer Interaction},
    URL = {papers/hci09_signLang.pdf}
}

@InCollection{Gui08:Bounded,
  author =   {L.J. Guibas and D. Hsu and H. Kurniawati and E. Rehman},
  title =    {Bounded uncertainty roadmaps for path planning},
  booktitle =    "Proc. Int. Workshop on the Algorithmic Foundations of Robotics",
  year =     {2008},
  URL = {papers/wafr08_bounded.pdf}
}

@INPROCEEDINGS{Kur08:SARSOP,
  AUTHOR = {H. Kurniawati and D. Hsu and W. S. Lee},
  TITLE = {{SARSOP}: Efficient point-based {POMDP} planning by approximating optimally reachable belief spaces},
  BOOKTITLE = {Proc. Robotics: Science and Systems},
  YEAR = {2008},
  URL = {papers/rss08_SARSOP.pdf},
}

@PHDTHESIS{Kur07:Workspace,
  AUTHOR = {H. Kurniawati},
  TITLE = {Workspace-based Sampling for Probabilistic Path Planning},
  SCHOOL = {Dept. of Computer Science, National University of Singapore, Singapore},
  YEAR = {2007},
  URL = {papers/thesis.pdf},
  NOTE = {Defended: February 2008}
}

@INPROCEEDINGS{Kur07:From,
  AUTHOR = {H. Kurniawati and T. Fraichard},
  TITLE = {From Path to Trajectory Deformation},
  BOOKTITLE = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
  YEAR = {2007},
  URL = {papers/iros07_trajDeform.pdf},
}

@INCOLLECTION{Kur06:On,
  AUTHOR = {H. Kurniawati and D. Hsu},
  TITLE = "Workspace-based Connectivity Oracle: An Adaptive Sampling Strategy for PRM Planning",
  BOOKTITLE = {Algorithmic Foundations of Robotics VII},
  PUBLISHER = {Springer--Verlag},
  EDITOR = {S. Akella and et.al.},
  YEAR = {2006},
  URL = {papers/wafr06_wco.pdf}
}

@ARTICLE{Hsu:On,
  AUTHOR = {D. Hsu and J.C. Latombe and H. Kurniawati},
  TITLE = {On the Probabilistic Foundations of Probabilistic Roadmap Planning},
  JOURNAL = {Int. J.  Robotics Research},
  VOLUME = {25},
  NUMBER = {7},
  PAGES = {627--643},
  YEAR = {2006},
  URL = {papers/ijrr06_prmFoundation.pdf}
}

@INPROCEEDINGS{Hsu05:On,
  AUTHOR = {D. Hsu and J.C. Latombe and H. Kurniawati},
  TITLE = {On the Probabilistic Foundations of Probabilistic Roadmap Planning},
  BOOKTITLE = {Proc. Int. Symp. on Robotics Research},
  YEAR = {2005},
  URL = {papers/isrr05_prmFoundation.pdf}
}

@ARTICLE{Sun05:Narrow,
  AUTHOR = {Z. Sun and D. Hsu and T. Jiang and H. Kurniawati and J. Reif },
  TITLE = {Narrow Passage Sampling for Probabilistic Roadmap Planners},
  JOURNAL = {IEEE Trans. on Robotics},
  VOLUME = {21},
  NUMBER = {6},
  PAGES = {1105--1115},
  YEAR = {2005},
  URL = {papers/tro05_bt.pdf}
}

@INPROCEEDINGS{Kur04:Workspace,
  AUTHOR = {H. Kurniawati and D. Hsu},
  TITLE = {Workspace Importance Sampling for Probabilistic Roadmap Planning},
  BOOKTITLE = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
  PAGES = {1618--1623},
  YEAR = {2004},
  URL = {papers/iros04_wis.pdf}
}

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News

Dec'20: Congrats to Nick Collins for winning the Alberto Elfes Best Paper Award at ACRA'20 (link to paper)
Jul'20: Congrats to Erli Wang for his new job as a Researcher at NEC Lab
Mar'20: Congrats to Marcus Hoerger for his PhD conferral!
Feb'20: Congrats to Joshua Song for his MPhil conferral & new job at Clarivate!
Aug'19: Congrats to Erli Wang for his PhD conferral!
Jun'19: Our new website is finally up
Jan'19: We move from UQ to ANU