{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:15:20Z","timestamp":1750306520367,"version":"3.41.0"},"reference-count":76,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2015,1,28]],"date-time":"2015-01-28T00:00:00Z","timestamp":1422403200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"EU-FP7 ICT 247870 NIFTI project"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Interact. Intell. Syst."],"published-print":{"date-parts":[[2015,1,28]]},"abstract":"<jats:p>We propose in this article a new approach to robot cognitive control based on a stimulus-response framework that models both a robot\u2019s stimuli and the robot\u2019s decision to switch tasks in response to or inhibit the stimuli. In an autonomous system, we expect a robot to be able to deal with the whole system of stimuli and to use them to regulate its behavior in real-world applications. The proposed framework contributes to the state of the art of robot planning and high-level control in that it provides a novel perspective on the interaction between robot and environment. Our approach is inspired by Gibson\u2019s constructive view of the concept of a stimulus and by the cognitive control paradigm of task switching. We model the robot\u2019s response to a stimulus in three stages. We start by defining the stimuli as perceptual functions yielded by the active robot processes and learned via an informed logistic regression. Then we model the stimulus-response relationship by estimating a score matrix that leads to the selection of a single response task for each stimulus, basing the estimation on low-rank matrix factorization. The decision about switching takes into account both an interference cost and a reconfiguration cost. The interference cost weighs the effort of discontinuing the current robot mental state to switch to a new state, whereas the reconfiguration cost weighs the effort of activating the response task. A choice is finally made based on the payoff of switching. Because processes play such a crucial role both in the stimulus model and in the stimulus-response model, and because processes are activated by actions, we address also the process model, which is built on a theory of action. The framework is validated by several experiments that exploit a full implementation on an advanced robotic platform and is compared with two known approaches to replanning. Results demonstrate the practical value of the system in terms of robot autonomy, flexibility, and usability.<\/jats:p>","DOI":"10.1145\/2677198","type":"journal-article","created":{"date-parts":[[2015,2,3]],"date-time":"2015-02-03T13:39:49Z","timestamp":1422970789000},"page":"1-41","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["A Stimulus-Response Framework for Robot Control"],"prefix":"10.1145","volume":"4","author":[{"given":"Mario","family":"Gianni","sequence":"first","affiliation":[{"name":"ALCOR Laboratory, DIIAG, Sapienza, University of Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Geert-Jan M.","family":"Kruijff","sequence":"additional","affiliation":[{"name":"Nuance Deutschland GmbH, Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fiora","family":"Pirri","sequence":"additional","affiliation":[{"name":"ALCOR Laboratory, DIIAG, Sapienza, University of Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2015,1,28]]},"reference":[{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 4499--4505","author":"Ajoudani A.","key":"e_1_2_1_1_1","unstructured":"A. Ajoudani , M. Gabiccini , N. G. Tsagarakis , and A. Bicchi . 2013. Human-like impedance and minimum effort control for natural and efficient manipulation . In Proceedings of the IEEE International Conference on Robotics and Automation. 4499--4505 . A. Ajoudani, M. Gabiccini, N. G. Tsagarakis, and A. Bicchi. 2013. Human-like impedance and minimum effort control for natural and efficient manipulation. In Proceedings of the IEEE International Conference on Robotics and Automation. 4499--4505."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/182.358434"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(03)00074-5"},{"key":"e_1_2_1_4_1","unstructured":"K. Apt and M. Wallace. 2006. Constraint Logic Programming using Eclipse. Cambridge University Press New York.   K. Apt and M. Wallace. 2006. Constraint Logic Programming using Eclipse. Cambridge University Press New York."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/1073858407299288"},{"key":"e_1_2_1_6_1","volume-title":"Lecture Notes in Computer Science","volume":"2244","author":"Baar T.","unstructured":"T. Baar , B. Beckert , and P. H. Schmitt . 2001. An extension of dynamic logic for modelling ocls @pre operator. In Perspectives of System Informatics, D. Bjrner, M. Broy, and A.V. Zamulin (Eds.) . Lecture Notes in Computer Science , Vol. 2244 . Springer, Berlin, 47--54. T. Baar, B. Beckert, and P. H. Schmitt. 2001. An extension of dynamic logic for modelling ocls @pre operator. In Perspectives of System Informatics, D. Bjrner, M. Broy, and A.V. Zamulin (Eds.). Lecture Notes in Computer Science, Vol. 2244. Springer, Berlin, 47--54."},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 1012--1017","author":"Beetz M.","key":"e_1_2_1_7_1","unstructured":"M. Beetz , L. Mosenlechner , and M. Tenorth . 2010. CRAM: A cognitive robot abstract machine for everyday manipulation in human environments . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 1012--1017 . M. Beetz, L. Mosenlechner, and M. Tenorth. 2010. CRAM: A cognitive robot abstract machine for everyday manipulation in human environments. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 1012--1017."},{"volume-title":"Proceedings of the AAAI Workshop on Cognitive Robotics. AAAI Press","author":"Block S. A.","key":"e_1_2_1_8_1","unstructured":"S. A. Block , A. F. Wehowsky , and B. C. Williams . 2006. Robust execution on contingent, temporally flexible plans . In Proceedings of the AAAI Workshop on Cognitive Robotics. AAAI Press , Palo Alto, California, 802--808. S. A. Block, A. F. Wehowsky, and B. C. Williams. 2006. Robust execution on contingent, temporally flexible plans. In Proceedings of the AAAI Workshop on Cognitive Robotics. AAAI Press, Palo Alto, California, 802--808."},{"volume-title":"Proceedings of the 5th European Conference on Planning. Springer-Verlag","author":"Blum A.","key":"e_1_2_1_9_1","unstructured":"A. Blum and J. C. Langford . 1999. Probabilistic planning in the graphplan framework . In Proceedings of the 5th European Conference on Planning. Springer-Verlag , New York, NY, 8--12. A. Blum and J. C. Langford. 1999. Probabilistic planning in the graphplan framework. In Proceedings of the 5th European Conference on Planning. Springer-Verlag, New York, NY, 8--12."},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.118"},{"volume-title":"Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--8.","author":"Cafaro B.","key":"e_1_2_1_11_1","unstructured":"B. Cafaro , M. Gianni , F. Pirri , M. Ruiz , and A. Sinha . 2013. Terrain traversability in rescue environments . In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--8. B. Cafaro, M. Gianni, F. Pirri, M. Ruiz, and A. Sinha. 2013. Terrain traversability in rescue environments. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--8."},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/564376.564419"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCIT.2009.61"},{"key":"e_1_2_1_14_1","volume-title":"Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 1--6.","author":"Capi G.","year":"2007","unstructured":"G. Capi . 2007 . Robot task switching in complex environments . In Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 1--6. G. Capi. 2007. Robot task switching in complex environments. In Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 1--6."},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICICIC.2008.261"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9055-6"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0135-7"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1093\/jigpal\/1.1.99"},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2802--2809","author":"D\u2019Ambrosio D. B.","key":"e_1_2_1_19_1","unstructured":"D. B. D\u2019Ambrosio , J. Lehman , S. S. Risi , and K. O. Stanley . 2011. Task switching in multirobot learning through indirect encoding . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2802--2809 . D. B. D\u2019Ambrosio, J. Lehman, S. S. Risi, and K. O. Stanley. 2011. Task switching in multirobot learning through indirect encoding. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2802--2809."},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(91)90006-6"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2197405"},{"volume-title":"Proceedings of the IEEE First International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support. IEEE, 204--207","author":"Durkee K. T.","key":"e_1_2_1_22_1","unstructured":"K. T. Durkee , C. Shabarekh , C. Jackson , and G. Ganberg . 2011. Flexible autonomous support to aid context and task switching . In Proceedings of the IEEE First International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support. IEEE, 204--207 . K. T. Durkee, C. Shabarekh, C. Jackson, and G. Ganberg. 2011. Flexible autonomous support to aid context and task switching. In Proceedings of the IEEE First International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support. IEEE, 204--207."},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.5555\/1622876.1622939"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1305\/ndjfl\/1040046087"},{"volume-title":"Proceedings of the 19th International Joint Conference on Artificial Intelligence. AAAI Press, 436--441","author":"Finzi A.","key":"e_1_2_1_25_1","unstructured":"A. Finzi and F. Pirri . 2005. Representing flexible temporal behaviours in the situation calculus . In Proceedings of the 19th International Joint Conference on Artificial Intelligence. AAAI Press, 436--441 . A. Finzi and F. Pirri. 2005. Representing flexible temporal behaviours in the situation calculus. In Proceedings of the 19th International Joint Conference on Artificial Intelligence. AAAI Press, 436--441."},{"key":"e_1_2_1_26_1","volume-title":"Technical Report 7. DIAG.","author":"Finzi A.","year":"2010","unstructured":"A. Finzi and F. Pirri . 2010 . Switching Tasks and Flexible Reasoning in the Situation Calculus . Technical Report 7. DIAG. A. Finzi and F. Pirri. 2010. Switching Tasks and Flexible Reasoning in the Situation Calculus. Technical Report 7. DIAG."},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1129"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.09.024"},{"volume-title":"Proceedings of the 14th Towards Autonomous Systems (TAROS). 470--483","author":"Gianni M.","key":"e_1_2_1_29_1","unstructured":"M. Gianni , F. Ferri , and F. Pirri . 2013a. ARE: Augmented reality environment for mobile robots . In Proceedings of the 14th Towards Autonomous Systems (TAROS). 470--483 . M. Gianni, F. Ferri, and F. Pirri. 2013a. ARE: Augmented reality environment for mobile robots. In Proceedings of the 14th Towards Autonomous Systems (TAROS). 470--483."},{"volume-title":"Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--6.","author":"Gianni M.","key":"e_1_2_1_30_1","unstructured":"M. Gianni , G. Gonnelli , A. Sinha , M. Menna , and F. Pirri . 2013b. An augmented reality approach for trajectory planning and control of tracked vehicles in rescue environments . In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--6. M. Gianni, G. Gonnelli, A. Sinha, M. Menna, and F. Pirri. 2013b. An augmented reality approach for trajectory planning and control of tracked vehicles in rescue environments. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics. 1--6."},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1037\/h0047037"},{"volume-title":"Proceedings of the 25th AAAI Conference on Artificial Intelligence.","author":"G\u00f6belbecker M.","key":"e_1_2_1_32_1","unstructured":"M. G\u00f6belbecker , C. Gretton , and R. Dearden . 2011. A switching planner for combined task and observation planning . In Proceedings of the 25th AAAI Conference on Artificial Intelligence. M. G\u00f6belbecker, C. Gretton, and R. Dearden. 2011. A switching planner for combined task and observation planning. In Proceedings of the 25th AAAI Conference on Artificial Intelligence."},{"key":"e_1_2_1_33_1","volume-title":"Proceedings of 9th International Conference on Autonomous Agents and Multiagent Systems","volume":"1","author":"Hawes N.","unstructured":"N. Hawes , M. Hanheide , K. Sj\u00f6\u00f6 , A. Aydemir , P. Jensfelt , M. G\u00f6belbecker , M. Brenner , H. Zender , P. Lison , I. Kruijff-Korbayov\u00e1 , G. J. M Kruijff , and M. Zillich . 2010. Dora the explorer: A motivated robot . In Proceedings of 9th International Conference on Autonomous Agents and Multiagent Systems , Vol. 1 . International Foundation for Autonomous Agents and Multiagent Systems, Canada, 1617--1618. N. Hawes, M. Hanheide, K. Sj\u00f6\u00f6, A. Aydemir, P. Jensfelt, M. G\u00f6belbecker, M. Brenner, H. Zender, P. Lison, I. Kruijff-Korbayov\u00e1, G. J. M Kruijff, and M. Zillich. 2010. Dora the explorer: A motivated robot. In Proceedings of 9th International Conference on Autonomous Agents and Multiagent Systems, Vol. 1. International Foundation for Autonomous Agents and Multiagent Systems, Canada, 1617--1618."},{"volume-title":"Proceedings of the 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. SCITEPRESS, 521--530","author":"Hurych D.","key":"e_1_2_1_34_1","unstructured":"D. Hurych , K. Zimmermann , and T. Svoboda . 2011. Fast learnable object tracking and detection in high-resolution omnidirectional images . In Proceedings of the 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. SCITEPRESS, 521--530 . D. Hurych, K. Zimmermann, and T. Svoboda. 2011. Fast learnable object tracking and detection in high-resolution omnidirectional images. In Proceedings of the 9th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. SCITEPRESS, 521--530."},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2006.02.007"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 4811--4817","author":"Jamone L.","key":"e_1_2_1_36_1","unstructured":"L. Jamone , B. Damas , J. Santos-Victor , and A. Takanishi . 2013. Online learning of humanoid robot kinematics under switching tools contexts . In Proceedings of the IEEE International Conference on Robotics and Automation. 4811--4817 . L. Jamone, B. Damas, J. Santos-Victor, and A. Takanishi. 2013. Online learning of humanoid robot kinematics under switching tools contexts. In Proceedings of the IEEE International Conference on Robotics and Automation. 4811--4817."},{"key":"e_1_2_1_37_1","first-page":"5","article-title":"Mental set and shift","volume":"14","author":"Jersild A. T.","year":"1927","unstructured":"A. T. Jersild . 1927 . Mental set and shift . Archives of Psychology 14 , 89 (1927), 5 -- 82 . A. T. Jersild. 1927. Mental set and shift. Archives of Psychology 14, 89 (1927), 5--82.","journal-title":"Archives of Psychology"},{"volume-title":"Proceedings of the 3rd International Conference on E-Commerce and Web Technologies. 244--253","author":"Ko S.","key":"e_1_2_1_38_1","unstructured":"S. Ko and J. Lee . 2002. User preference mining through collaborative filtering and content based filtering in recommender system . In Proceedings of the 3rd International Conference on E-Commerce and Web Technologies. 244--253 . S. Ko and J. Lee. 2002. User preference mining through collaborative filtering and content based filtering in recommender system. In Proceedings of the 3rd International Conference on E-Commerce and Web Technologies. 244--253."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 599--605","author":"Kubelka V.","key":"e_1_2_1_39_1","unstructured":"V. Kubelka and M. Reinstein . 2012. Complementary filtering approach to orientation estimation using inertial sensors only . In Proceedings of the IEEE International Conference on Robotics and Automation. 599--605 . V. Kubelka and M. Reinstein. 2012. Complementary filtering approach to orientation estimation using inertial sensors only. In Proceedings of the IEEE International Conference on Robotics and Automation. 599--605."},{"key":"e_1_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/963770.963772"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 1296--1302","author":"Li Tao","key":"e_1_2_1_41_1","unstructured":"Tao Li , K. Nakajima , and R. Pfeifer . 2013. Online learning for behavior switching in a soft robotic arm . In Proceedings of the IEEE International Conference on Robotics and Automation. 1296--1302 . Tao Li, K. Nakajima, and R. Pfeifer. 2013. Online learning for behavior switching in a soft robotic arm. In Proceedings of the IEEE International Conference on Robotics and Automation. 1296--1302."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 265--270","author":"Li X.","key":"e_1_2_1_42_1","unstructured":"X. Li and C. C. Cheah . 2012. Multiple task-space robot control: Sense locally, act globally . In Proceedings of the IEEE International Conference on Robotics and Automation. 265--270 . X. Li and C. C. Cheah. 2012. Multiple task-space robot control: Sense locally, act globally. In Proceedings of the IEEE International Conference on Robotics and Automation. 265--270."},{"key":"e_1_2_1_43_1","doi-asserted-by":"crossref","unstructured":"Pierre Marquis. 1991. Extending abduction from propositional to first-order logic. In Fundamentals of Artificial Intelligence Research. 141--155.   Pierre Marquis. 1991. Extending abduction from propositional to first-order logic. In Fundamentals of Artificial Intelligence Research. 141--155.","DOI":"10.1007\/3-540-54507-7_12"},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1996"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 4705--4710","author":"Medina Ayala A. I.","key":"e_1_2_1_45_1","unstructured":"A. I. Medina Ayala , S. B. Andersson , and C. Belta . 2012. Probabilistic control from time-bounded temporal logic specifications in dynamic environments . In Proceedings of the IEEE International Conference on Robotics and Automation. 4705--4710 . A. I. Medina Ayala, S. B. Andersson, and C. Belta. 2012. Probabilistic control from time-bounded temporal logic specifications in dynamic environments. In Proceedings of the IEEE International Conference on Robotics and Automation. 4705--4710."},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.neuro.24.1.167"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2004.05.008"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(03)00028-7"},{"volume-title":"Proceedings of the 17th International Joint Conference on Artificial Intelligence. 494--502","author":"Morris P. H.","key":"e_1_2_1_49_1","unstructured":"P. H. Morris , N. Muscettola , and T. Vidal . 2001. Dynamic control of plans with temporal uncertainty . In Proceedings of the 17th International Joint Conference on Artificial Intelligence. 494--502 . P. H. Morris, N. Muscettola, and T. Vidal. 2001. Dynamic control of plans with temporal uncertainty. In Proceedings of the 17th International Joint Conference on Artificial Intelligence. 494--502."},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2010.08.004"},{"volume-title":"Unified Theories of Cognition","author":"Newell A.","key":"e_1_2_1_51_1","unstructured":"A. Newell . 1990. Unified Theories of Cognition . Harvard University Press . A. Newell. 1990. Unified Theories of Cognition. Harvard University Press."},{"key":"e_1_2_1_52_1","volume-title":"Consciousness and Self-Regulation: Advances in Research and Theory","volume":"4","author":"Norman D. A.","unstructured":"D. A. Norman and T. Shallice . 1986 . Consciousness and Self-Regulation: Advances in Research and Theory , Vol. 4 . Attention to action: Willed and automatic control of behaviour. Plenum Press. D. A. Norman and T. Shallice. 1986. Consciousness and Self-Regulation: Advances in Research and Theory, Vol. 4. Attention to action: Willed and automatic control of behaviour. Plenum Press."},{"volume-title":"Proceedings of the 9th Workshop on Virtual Reality Interactions and Physical Simulations. 147--156","author":"Papadakis P.","key":"e_1_2_1_53_1","unstructured":"P. Papadakis and F. Pirri . 2012. 3D mobility learning and regression of articulated, tracked robotic vehicles by physics-based optimization . In Proceedings of the 9th Workshop on Virtual Reality Interactions and Physical Simulations. 147--156 . P. Papadakis and F. Pirri. 2012. 3D mobility learning and regression of articulated, tracked robotic vehicles by physics-based optimization. In Proceedings of the 9th Workshop on Virtual Reality Interactions and Physical Simulations. 147--156."},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2010.04.016"},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/316542.316545"},{"key":"e_1_2_1_56_1","doi-asserted-by":"crossref","unstructured":"F. Pirri and R. Reiter. 2000. Planning with natural actions in the situation calculus. In Logic-Based Artificial Intelligence. Kluwer Press 213--231.   F. Pirri and R. Reiter. 2000. Planning with natural actions in the situation calculus. In Logic-Based Artificial Intelligence. Kluwer Press 213--231.","DOI":"10.1007\/978-1-4615-1567-8_10"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9327-2"},{"volume-title":"Proceedings of the Open-Source Workshop of the International Conference on Robotics and Automation.","author":"Quigley M.","key":"e_1_2_1_58_1","unstructured":"M. Quigley , K. Conley , B. Gerkey , J. Faust , T. Foote , J. Leibs , R. Wheeler , and A. Ng . 2009. ROS: An open-source Robot Operating System . In Proceedings of the Open-Source Workshop of the International Conference on Robotics and Automation. M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Ng. 2009. ROS: An open-source Robot Operating System. In Proceedings of the Open-Source Workshop of the International Conference on Robotics and Automation."},{"volume-title":"Proceedings of the 3rd International Conference on Principles of Knowledge Representation and Reasoning. 165--176","author":"Randell D.","key":"e_1_2_1_59_1","unstructured":"D. Randell , Z. Cui , and A. Cohn . 1992. A spatial logic based on regions and connection . In Proceedings of the 3rd International Conference on Principles of Knowledge Representation and Reasoning. 165--176 . D. Randell, Z. Cui, and A. Cohn. 1992. A spatial logic based on regions and connection. In Proceedings of the 3rd International Conference on Principles of Knowledge Representation and Reasoning. 165--176."},{"key":"e_1_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1037\/0096-1523.27.4.763"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 5675--5682","author":"Saglam C. O.","key":"e_1_2_1_61_1","unstructured":"C. O. Saglam and K. Byl . 2013. Stability and gait transition of the five-link biped on stochastically rough terrain using a discrete set of sliding mode controllers . In Proceedings of the IEEE International Conference on Robotics and Automation. 5675--5682 . C. O. Saglam and K. Byl. 2013. Stability and gait transition of the five-link biped on stochastically rough terrain using a discrete set of sliding mode controllers. In Proceedings of the IEEE International Conference on Robotics and Automation. 5675--5682."},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3263--3268","author":"Stoyanov T.","key":"e_1_2_1_62_1","unstructured":"T. Stoyanov , M. Magnusson , H. Andreasson , and A. J. Lilienthal . 2010. Path planning in 3D environments using the Normal Distributions Transform . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3263--3268 . T. Stoyanov, M. Magnusson, H. Andreasson, and A. J. Lilienthal. 2010. Path planning in 3D environments using the Normal Distributions Transform. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3263--3268."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 2999--3006","author":"Sung C.","key":"e_1_2_1_63_1","unstructured":"C. Sung , N. Ayanian , and D. Rus . 2013. Improving the performance of multi-robot systems by task switching . In Proceedings of the IEEE International Conference on Robotics and Automation. 2999--3006 . C. Sung, N. Ayanian, and D. Rus. 2013. Improving the performance of multi-robot systems by task switching. In Proceedings of the IEEE International Conference on Robotics and Automation. 2999--3006."},{"volume-title":"Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication. 1161--1166","author":"Suzuki S.","key":"e_1_2_1_64_1","unstructured":"S. Suzuki , T. Sasaki , and F. Harashima . 2009. Visible classification of task-switching strategies in vehicle operation . In Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication. 1161--1166 . S. Suzuki, T. Sasaki, and F. Harashima. 2009. Visible classification of task-switching strategies in vehicle operation. In Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication. 1161--1166."},{"key":"e_1_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-006-9785-5"},{"key":"e_1_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1145\/1869397.1869403"},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 4918--4924","author":"Tao L.","key":"e_1_2_1_67_1","unstructured":"L. Tao , K. Nakajima , M. Cianchetti , C. Laschi , and R. Pfeifer . 2012. Behavior switching using reservoir computing for a soft robotic arm . In Proceedings of the IEEE International Conference on Robotics and Automation. 4918--4924 . L. Tao, K. Nakajima, M. Cianchetti, C. Laschi, and R. Pfeifer. 2012. Behavior switching using reservoir computing for a soft robotic arm. In Proceedings of the IEEE International Conference on Robotics and Automation. 4918--4924."},{"key":"e_1_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1080\/713755969"},{"key":"e_1_2_1_69_1","unstructured":"M. Vilain H. Kautz and P. Beek. 1986. Constraint propagation algorithms for temporal reasoning. In Readings in Qualitative Reasoning about Physical Systems. Morgan Kaufmann 377--382.   M. Vilain H. Kautz and P. Beek. 1986. Constraint propagation algorithms for temporal reasoning. In Readings in Qualitative Reasoning about Physical Systems. Morgan Kaufmann 377--382."},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 5033--5038","author":"Wawerla J.","key":"e_1_2_1_70_1","unstructured":"J. Wawerla and R. T. Vaughan . 2009. Robot task switching under diminishing returns . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 5033--5038 . J. Wawerla and R. T. Vaughan. 2009. Robot task switching under diminishing returns. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems. 5033--5038."},{"volume-title":"De pulsu, resorptione, audita et tactu. Annotationes anatomicae et physiologicae","author":"Weber E. H.","key":"e_1_2_1_71_1","unstructured":"E. H. Weber . 1834. De pulsu, resorptione, audita et tactu. Annotationes anatomicae et physiologicae . Koehler, New York, NY. E. H. Weber. 1834. De pulsu, resorptione, audita et tactu. Annotationes anatomicae et physiologicae. Koehler, New York, NY."},{"key":"e_1_2_1_72_1","unstructured":"J. Wittocx M. Denecker and M. Bruynooghe. 2010. Constraint propagation for extended first-order logic. Computing Research Repository abs\/1008.2121 (2010).  J. Wittocx M. Denecker and M. Bruynooghe. 2010. Constraint propagation for extended first-order logic. Computing Research Repository abs\/1008.2121 (2010)."},{"volume-title":"Proceedings of the 7th International Conference on Principles of Knowledge Representation and Reasoning. 3--14","author":"Wolter F.","key":"e_1_2_1_73_1","unstructured":"F. Wolter and M. Zakharyaschev . 2000. Spatio-temporal representation and reasoning based on RCC-8 . In Proceedings of the 7th International Conference on Principles of Knowledge Representation and Reasoning. 3--14 . F. Wolter and M. Zakharyaschev. 2000. Spatio-temporal representation and reasoning based on RCC-8. In Proceedings of the 7th International Conference on Principles of Knowledge Representation and Reasoning. 3--14."},{"key":"e_1_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAMD.2010.2090149"},{"key":"e_1_2_1_75_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2012.05.010"},{"key":"e_1_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-68880-8_32"}],"container-title":["ACM Transactions on Interactive Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2677198","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2677198","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T06:11:57Z","timestamp":1750227117000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2677198"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,1,28]]},"references-count":76,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2015,1,28]]}},"alternative-id":["10.1145\/2677198"],"URL":"https:\/\/doi.org\/10.1145\/2677198","relation":{},"ISSN":["2160-6455","2160-6463"],"issn-type":[{"type":"print","value":"2160-6455"},{"type":"electronic","value":"2160-6463"}],"subject":[],"published":{"date-parts":[[2015,1,28]]},"assertion":[{"value":"2013-02-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2014-10-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2015-01-28","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}