% Publications of James C. Boerkoel Jr. -- https://www.cs.hmc.edu/~boerkoel/ % Single source for the website (build_pubs.py renders it into index.html) and usable in LaTeX/Overleaf. % Site-only fields: keywords = {journal|conference|workshop|other|patent}; file = {publications/.pdf}. % topics = research-interest filters on the site, any of: education, hri, multiagent, temporal, scheduling, climate. @inproceedings{boerkoel2023undergraduate, author = {Boerkoel, James and Ergezer, Mehmet}, title = {An Undergraduate Consortium for Addressing the Leaky Pipeline to Computing Research}, booktitle = {Proceedings of the 54th ACM Technical Symposium on Computer Science Education V. 1}, series = {SIGCSE 2023}, pages = {687--693}, year = {2023}, publisher = {Association for Computing Machinery}, address = {Toronto ON, Canada}, isbn = {9781450394314}, doi = {10.1145/3545945.3569841}, url = {10.1145/3545945.3569841}, keywords = {conference}, topics = {education}, file = {publications/boerkoel2023undergraduate.pdf}, abstract = {Despite an increasing number of successful interventions designed to broaden participation in computing research, there is still significant attrition among historically marginalized groups in the computing research pipeline. This experience report describes a first-of-its-kind Undergraduate Consortium (UC; https://aaai-uc.github.io/about) that addresses this challenge by empowering students with a culmination of their undergraduate research in a conference setting. The UC, conducted at the AAAI Conference on Artificial Intelligence (AAAI), aims to broaden participation in the AI research community by recruiting students, particularly those from historically marginalized groups, supporting them with mentorship, advising, and networking as an accelerator toward graduate school, AI research, and their scientific identity. This paper presents our program design, inspired by a rich set of evidence-based practices, and a preliminary evaluation of the first years that points to the UC achieving many of its desired outcomes. We conclude by discussing insights to improve our program and expand to other computing communities.} } @inproceedings{chen2023sensitivity, author = {Chen, Rosy and Ma, Yiran and Wu, Siqi and Boerkoel, Jr., James C.}, title = {Sensitivity Analysis for Dynamic Control of PSTNs with Skewed Distributions}, booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling}, volume = {33}, pages = {95--99}, year = {2023}, month = {7}, doi = {10.1609/icaps.v33i1.27183}, url = {https://ojs.aaai.org/index.php/ICAPS/article/view/27183}, keywords = {conference}, topics = {temporal}, file = {publications/chen2023sensitivity.pdf} } @inproceedings{weiss2023analyzing, author = {Weiss, Emily and Jacotin, Zeneve and Jackson, Ryan Blake and Yuan, Amy and Boerkoel, James C.}, title = {Analyzing the Fluency of Human-Robot Interactions}, booktitle = {Proceedings of the AAAI 2023 Spring Symposium Series on HRI in Academia and Industry: Bridging the Gap}, year = {2023}, url = {https://heatlab.org/papers/weiss2023analyzing.pdf}, keywords = {workshop}, topics = {hri}, file = {publications/weiss2023analyzing.pdf} } @inproceedings{morgan2022simple, author = {Morgan, Malia and Schalkwyk, Julianna and Wang, Huaxiaoyue and Davalos, Hannah and Martinez, Ryan and Rohilla, Vibha and Boerkoel, James}, title = {Simple Temporal Networks for Improvisational Teamwork}, booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling}, volume = {32}, pages = {261--269}, year = {2022}, month = {6}, doi = {10.1609/icaps.v32i1.19809}, keywords = {conference}, topics = {temporal, hri}, file = {publications/morgan2022simple.pdf} } @inproceedings{morgan2022simpleworkshop, author = {Morgan, Malia and Schalkwyk, Julianna and Wang, Huaxiaoyue and Davalos, Hannah and Martinez, Ryan and Rohilla, Vibha and Boerkoel, James}, title = {Simple Temporal Networks for Improvisational Teamwork}, booktitle = {Proceedings of the AAAI 2022 Spring Symposium Series on `Can We Talk?' How to Design Multi-Agent Systems in the Absence of Reliable Communications}, year = {2022}, keywords = {workshop}, topics = {temporal, hri} } @inproceedings{boerkoel2021efficient, author = {Boerkoel, James and Mason, James and Wang, Daniel and Chien, Steve and Maillard, Adrien}, title = {An Efficient Approach for Scheduling Imaging Tasks Across a Fleet of Satellites}, booktitle = {Proceedings of 2021 International Workshop on Planning \& Scheduling for Space (IWPSS 21)}, year = {2021}, url = {https://ai.jpl.nasa.gov/public/documents/papers/Boerkoel-IWPSS2021-paper-23.pdf}, keywords = {workshop}, topics = {scheduling, multiagent, climate}, file = {publications/boerkoel2021efficient.pdf} } @inproceedings{dominguez2020modeling, author = {Abo Dominguez, Maya and La, William and Boerkoel, Jim}, title = {Modeling Human Temporal Uncertainty in Human-Agent Teams}, booktitle = {Proc. of Artificial Intelligence in Human Robot Interaction AAAI Fall Symposium Series (AI-HRI 2020)}, year = {2020}, doi = {10.48550/arXiv.2010.04849}, keywords = {workshop}, topics = {hri, temporal}, file = {publications/dominguez2020modeling.pdf} } @article{akmal2020quantifying, author = {Akmal, Shyan and Ammons, Savana and Li, Hemeng and Gao, Michael and Popowski, Lindsay and Boerkoel, James C.}, title = {Quantifying controllability in temporal networks with uncertainty}, journal = {Artificial Intelligence}, volume = {289}, pages = {103384}, year = {2020}, issn = {0004-3702}, doi = {10.1016/j.artint.2020.103384}, url = {https://www.sciencedirect.com/science/article/pii/S000437022030134X}, keywords = {journal}, topics = {temporal}, file = {publications/akmal2020quantifying.pdf}, abstract = {Controllability for Simple Temporal Networks with Uncertainty (STNUs) has thus far been limited to three levels: strong, dynamic, and weak. Because of this, there is currently no systematic way for an agent to assess just how far from being controllable an uncontrollable STNU is. We provide new insights inspired by a geometric interpretation of STNUs to introduce the degrees of strong and dynamic controllability — continuous metrics that measure how far a network is from being controllable. We utilize these metrics to approximate the probabilities that an STNU can be dispatched successfully offline and online respectively. We introduce new methods for predicting the degrees of strong and dynamic controllability for uncontrollable networks. We further generalize these metrics by defining likelihood of controllability, a controllability measure that applies to Probabilistic Simple Temporal Networks (PSTNs). Finally, we empirically demonstrate that these metrics are good predictors of actual dispatch success rate for STNUs and PSTNs.} } @inproceedings{chien2020space, author = {Chien, Steve Ankuo and Boerkoel, James and Mason, James and Wang, Daniel and Davies, Ashley Gerard and Mueting, Joel and Vittaldev, Vivek and Shah, Vishwa and Zuleta, Ignacio}, title = {Space Ground Sensorwebs for Volcano Monitoring}, booktitle = {The International Symposium on Artificial Intelligence, Robotics and Automation in Space}, year = {2020}, url = {https://www.hou.usra.edu/meetings/isairas2020fullpapers/pdf/5004.pdf}, keywords = {workshop}, topics = {scheduling, multiagent, climate}, file = {publications/chien2020space.pdf} } @inproceedings{gao2020dynamic, author = {Gao, Michael and Popowski, Lindsay and Boerkoel, James}, title = {Dynamic Control of Probabilistic Simple Temporal Networks}, booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence}, volume = {34}, number = {06}, pages = {9851--9858}, year = {2020}, month = {4}, doi = {10.1609/aaai.v34i06.6538}, url = {https://ojs.aaai.org/index.php/AAAI/article/view/6538}, keywords = {conference}, topics = {temporal} } @inproceedings{chien2020leveraging, author = {Chien, Steve and Boerkoel, James and Mason, James and Wang, Daniel and Davies, Ashley and Mueting, Joel and Vittaldev, Vivek and Shah, Vishwa and Zuleta, Ignacio}, title = {Leveraging Space and Ground Assets in a Sensorweb for Scientific Monitoring: Early Results and Opportunities for the Future}, booktitle = {IGARSS 2020 - 2020 IEEE International Geoscience and Remote Sensing Symposium}, pages = {3833--3836}, year = {2020}, publisher = {IEEE}, address = {Waikoloa, HI, USA}, doi = {10.1109/IGARSS39084.2020.9324049}, url = {10.1109/IGARSS39084.2020.9324049}, keywords = {workshop}, topics = {scheduling, multiagent, climate} } @inproceedings{abrahams2019dream, author = {Abrahams, Jordan R. and Chu, David A. and Diehl, Grace and Knittel, Marina and Lin, Judy and Lloyd, William and Boerkoel, James C. and Frank, Jeremy}, title = {Dream: An algorithm for mitigating the overhead of robust rescheduling}, booktitle = {Proc. of the 29th International Conference on Automated Planning and Scheduling (ICAPS-19)}, pages = {3--12}, year = {2019}, doi = {10.1609/icaps.v29i1.3454}, keywords = {conference}, topics = {scheduling, temporal}, file = {publications/abrahams2019dream.pdf}, abstract = {Generating and executing temporal plans is difficult in uncertain environments. The current state-of-the-art algorithm for probabilistic temporal networks maintains a high success rate by rescheduling frequently as uncertain events are resolved, but this approach involves substantial resource overhead due to computing and communicating new schedules between agents. Aggressive rescheduling could thus reduce overall mission duration or success in situations where agents have limited energy, computing power, and may not be feasible when communication is limited. In this paper, we propose new approaches for heuristically deciding when rescheduling is most efficacious. We propose two compatible approaches, Allowable Risk and Sufficient Change, that can be employed in combination to compromise between the computation rate, the communication rate, and success rate for new schedules. We show empirically that both approaches allow us to gracefully trade success rate for lower computation and/or communication as compared to a state-of-the-art dynamic scheduling algorithm.} } @inproceedings{akmal2019quantifying, author = {Akmal, Shyan and Ammons, Savana and Li, Hemeng and Boerkoel, James C.}, title = {Quantifying degrees of controllability in temporal networks with uncertainty}, booktitle = {Proc. of the 29th International Conference on Automated Planning and Scheduling (ICAPS-19)}, pages = {22--30}, year = {2019}, note = {Awarded Best Student Paper (Runner up)}, doi = {10.1609/icaps.v29i1.3456}, keywords = {conference}, topics = {temporal}, file = {publications/akmal2019quantifying.pdf}, abstract = {Controllability for Simple Temporal Networks with Uncertainty (STNUs) has thus far been limited to three levels: strong, dynamic, and weak. Because of this, there is currently no systematic way for an agent to assess just how far from being controllable an uncontrollable STNU is. We use a new geometric interpretation of STNUs to introduce the degrees of strong and dynamic controllability -- continuous metrics that measure how far a network is from being controllable. We utilize these metrics to approximate the probabilities that an STNU can be dispatched successfully offline and online respectively. We introduce new methods for predicting the degrees of strong and dynamic controllability for uncontrollable networks. In addition, we show empirically that both metrics are good predictors of the actual dispatch success rate.} } @inproceedings{lee2019measuring, author = {Lee, Joon Young and Ojha, Vivaswat and Boerkoel, James C.}, title = {Measuring and optimizing durability against scheduling disturbances}, booktitle = {Proc. of the 29th International Conference on Automated Planning and Scheduling (ICAPS-19)}, pages = {264--268}, year = {2019}, doi = {10.1609/icaps.v29i1.3486}, keywords = {conference}, topics = {scheduling, temporal}, file = {publications/lee2019measuring.pdf}, abstract = {Flexibility is a useful and common metric for measuring the amount of slack in a Simple Temporal Network (STN) solution space. We extend this concept to specific schedules within an STN's solution space, developing a related notion of durability that captures an individual schedule's ability to withstand disturbances and still remain valid. We identify practical sources of scheduling disturbances that motivate the need for durable schedules, and create a geometrically-inspired empirical model that enables testing a given schedule's ability to withstand these disturbances. We develop a number of durability metrics and use these to characterize and compute specific schedules that we expect to have high durability. Using our model of disturbances, we show that our durability metrics strongly predict a schedule's resilience to practical scheduling disturbances. We also demonstrate that the schedules we identify as having high durability are up to three times more resilient to disturbances than an arbitrarily chosen schedule is.} } @inproceedings{isaacson2019madtn, author = {Isaacson, Seth and Rice, Gretchen and Boerkoel, James C.}, title = {MAD-TN: A Tool for Measuring Fluency in Human-Robot Collaboration}, booktitle = {Proceedings of Artificial Intelligence in Human-Robot Interaction AAAI Fall Symposium Series (AI-HRI 2019)}, year = {2019}, doi = {10.48550/arXiv.1909.06675}, keywords = {workshop}, topics = {hri} } @inproceedings{huang2018new, author = {Huang, Amy and Lloyd, Liam and Omar, Mohamed and Boerkoel, James}, title = {New perspectives on flexibility in simple temporal planning}, booktitle = {Proc. of the 28th International Conference on Automated Planning and Scheduling (ICAPS-18)}, pages = {123--131}, year = {2018}, doi = {10.1609/icaps.v28i1.13907}, url = {https://aaai.org/ocs/index.php/ICAPS/ICAPS18/paper/view/17775}, keywords = {conference}, topics = {temporal}, file = {publications/huang2018new.pdf}, abstract = {Flexibility is generally agreed to be a desirable feature of a Simple Temporal Network (STN). However, exactly what flexibility attempts to measure has varied, making it difficult to objectively evaluate flexibility metrics. Further, past metrics tend to lose information or exhibit other undesirable properties when aggregating the flexibility measures of individual events across an entire STN. Our work is driven by the realization that the solution space of an STN is a convex polyhedron whose geometric properties convey useful information about the STN. These geometric inspirations lead to measures of an STN solution space and also motivate a set of desiderata for general flexibility metrics. We also put forth two new geometrically-inspired flexibility metrics that have some theoretical advantages over existing metrics. Finally, we comprehensively evaluate both new and existing flexibility metrics against our proposed desiderata.} } @article{unhelkar2018mobile, author = {Unhelkar, Vaibhav V. and D{\"o}rr, Stefan and Bubeck, Alexander and Lasota, Przemyslaw A. and Perez, Jorge and Siu, Ho Chit and Boerkoel, James C. and Tyroller, Quirin and Bix, Johannes and Bartscher, Stefan and Shah, Julie A.}, title = {Mobile robots for moving-floor assembly lines: Design, evaluation, and deployment}, journal = {IEEE Robotics \& Automation Magazine}, volume = {25}, number = {2}, pages = {72--81}, year = {2018}, doi = {10.1109/MRA.2018.2815639}, keywords = {journal}, topics = {hri} } @inproceedings{chu2018tradeoffs, author = {Chu Lasso, David and Diehl, Grace and Knittel, Marina and Lin, Judy and Lloyd, William and Boerkoel, James C. and Frank, Jeremy}, title = {Trade-offs between communication, rescheduling, and success rate in uncertain multi-agent schedules}, booktitle = {Proceedings of the ICAPS 2018 Workshop on Integrated Planning, Acting and Execution (IntEx 2018)}, year = {2018}, url = {https://icaps18.icaps-conference.org/fileadmin/alg/conferences/icaps18/workshops/workshop09/docs/proceedings.pdf}, keywords = {workshop}, topics = {multiagent, scheduling} } @article{fisher2017ask, author = {Fisher, Doug and Isbell, Charles and Littman, Michael L. and Wollowski, Michael and Neller, Todd W. and Boerkoel, James}, title = {Ask me anything about moocs}, journal = {AI Magazine}, volume = {38}, number = {2}, pages = {7--12}, year = {2017}, month = {7}, doi = {10.1609/aimag.v38i2.2729}, url = {https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/2729}, keywords = {journal}, topics = {education} } @inproceedings{lund2017robust, author = {Lund, Kyle and Dietrich, Sam and Chow, Scott and Boerkoel, James}, title = {Robust execution of probabilistic temporal plans}, booktitle = {Proc. of the 31st National Conference on Artificial Intelligence (AAAI-17)}, pages = {3597--3604}, year = {2017}, doi = {10.1609/aaai.v31i1.11019}, url = {https://aaai.org/ocs/index.php/AAAI/AAAI17/paper/view/14641}, keywords = {conference}, topics = {temporal}, file = {publications/lund2017robust.pdf}, abstract = {A critical challenge in temporal planning is robustly dealing with non-determinism, e.g., the durational uncertainty of a robot's activity due to slippage or other unexpected influences. Recent advances show that robustness is a better measure of solution quality than traditional metrics such as flexibility. This paper introduces the Robust Execution Problem for finding maximally robust dispatch strategies for general probabilistic temporal planning problems. While generally intractable, we introduce approximate solution techniques — one that can be computed statically prior to the start of execution with robustness guarantees and one that dynamically adjusts to opportunities and setbacks during execution. We show empirically that our dynamic approach outperforms all known approaches in terms of execution success rate.} } @article{wollowski2017artificial, author = {Wollowski, Michael and Neller, Todd and Boerkoel, James}, title = {Artificial intelligence education: Editorial introduction}, journal = {AI Magazine}, volume = {38}, number = {2}, pages = {5--6}, year = {2017}, month = {7}, doi = {10.1609/aimag.v38i2.2728}, url = {https://ojs.aaai.org/aimagazine/index.php/aimagazine/article/view/2728}, keywords = {journal}, topics = {education} } @inproceedings{castro2017who, author = {Castro, Brenda and Roberts, Montana and Mena, Karla and Boerkoel, Jim}, title = {Who takes the lead? Automated scheduling for human-robot teams}, booktitle = {Proceedings of the Artificial Intelligence for Human-Robot Interaction AAAI Fall Symposium Series (AI-HRI 2017)}, year = {2017}, url = {https://cdn.aaai.org/ocs/15964/15964-69861-1-PB.pdf}, keywords = {workshop}, topics = {hri, scheduling} } @inproceedings{wu2016trust, author = {Wu, Jane and Paeng, Erin and Linder, Kari and Valdesolo, Piercarlo and Boerkoel, James C.}, title = {Trust and Cooperation in Human-Robot Decision Making}, booktitle = {Proceedings of the AAAI 2016 Fall Symposium Series on Artificial Intelligence for Human-Robot Interaction (AI-HRI 2016)}, series = {Technical Report FS-16-01}, pages = {110--117}, year = {2016}, publisher = {AAAI Press}, url = {https://aaai.org/papers/14118-14118-trust-and-cooperation-in-human-robot-decision-making/}, keywords = {workshop}, topics = {hri}, file = {publications/wu2016trust.pdf} } @inproceedings{lund2016robustmulti, author = {Lund, Kyle and Dietrich, Sam and Boerkoel, James C.}, title = {Robust multi-robot scheduling}, booktitle = {Proceedings of the RSS 2016 Workshop on On-line Decision-Making in Multi-Robot Coordination (DEMUR-16)}, year = {2016}, url = {https://robotics.fel.cvut.cz/demur16/files/demur16-lund-dietrich-boerkoel.pdf}, keywords = {workshop}, topics = {multiagent, scheduling} } @inproceedings{wu2016exploring, author = {Wu, Jane and Paeng, Erin and Boerkoel, James C.}, title = {Exploring human-robot trust and cooperation}, booktitle = {Proceedings of the RSS 2016 Workshop on Social Trust in Autonomous Robots}, year = {2016}, keywords = {workshop}, topics = {hri} } @inproceedings{brooks2015robustness, author = {Brooks, Jeb and Reed, Emilia and Gruver, Alexander and Boerkoel, James C.}, title = {Robustness in probabilistic temporal planning}, booktitle = {Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15)}, pages = {3239--3246}, year = {2015}, doi = {10.1609/aaai.v29i1.9663}, url = {https://dl.acm.org/doi/10.5555/2888116.2888167}, keywords = {conference}, topics = {temporal}, file = {publications/brooks2015robustness.pdf} } @inproceedings{donti2015predicting, author = {Donti, P. L. and Rosenbloom, H. and Gruver, A. and Boerkoel, J. C.}, title = {Predicting the quality of user experiences to improve productivity and wellness}, booktitle = {Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence}, pages = {4154--4155}, year = {2015}, doi = {10.1609/aaai.v29i1.9740}, keywords = {conference}, topics = {hri}, file = {publications/donti2015predicting.pdf} } @article{durfee2014using, author = {Durfee, Edmund H. and Boerkoel, James C. and Sleight, Jason}, title = {Using hybrid scheduling for the semi-autonomous formation of expert teams}, journal = {Future Generation Computer Systems}, volume = {31}, pages = {200--212}, year = {2014}, note = {Special Section: Advances in Computer Supported Collaboration: Systems and Technologies}, issn = {0167-739X}, doi = {10.1016/j.future.2013.04.008}, url = {https://www.sciencedirect.com/science/article/pii/S0167739X1300068X}, keywords = {journal}, topics = {multiagent, scheduling} } @inproceedings{unhelkar2014towards, author = {Unhelkar, Vaibhav V. and Perez, J. and Boerkoel, James C. and Bix, Johannes and Bartscher, Stefan and Shah, Julie and others}, title = {Towards control and sensing for an autonomous mobile robotic assistant navigating assembly lines}, booktitle = {Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)}, pages = {4161--4167}, year = {2014}, publisher = {IEEE}, doi = {10.1109/ICRA.2014.6907464}, keywords = {conference}, topics = {hri} } @inproceedings{donti2014exploring, author = {Donti, Priya L. and Boerkoel, James C.}, title = {Exploring active and passive team-based coordination}, booktitle = {Proceedings of the 2014 AAAI Fall Symposium Series}, pages = {62--64}, year = {2014}, url = {https://cdn.aaai.org/ocs/9112/9112-40056-1-PB.pdf}, keywords = {workshop}, topics = {multiagent, hri}, file = {publications/donti2014exploring.pdf} } @inproceedings{boerkoel2013decoupling, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Decoupling the multiagent disjunctive temporal problem}, booktitle = {Twenty-Seventh AAAI Conference on Artificial Intelligence}, pages = {123--129}, year = {2013}, doi = {10.1609/aaai.v27i1.8583}, url = {https://dl.acm.org/doi/abs/10.5555/2484920.2485113}, keywords = {conference}, topics = {multiagent, temporal}, file = {publications/boerkoel2013decoupling.pdf} } @article{boerkoel2013distributed, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Distributed reasoning for multiagent simple temporal problems}, journal = {Journal of Artificial Intelligence Research}, volume = {47}, pages = {95--156}, year = {2013}, doi = {10.1613/jair.3840}, keywords = {journal}, topics = {multiagent, temporal}, file = {publications/boerkoel2013distributed.pdf} } @inproceedings{boerkoel2013distributedalg, author = {Boerkoel, J. C. and Planken, L. and Wilcox, R. and Shah, J. A.}, title = {Distributed algorithms for incrementally maintaining multiagent simple temporal networks}, booktitle = {Proceedings of the 23rd International Conference on Automated Planning and Scheduling (ICAPS)}, pages = {11--19}, year = {2013}, doi = {10.1609/icaps.v23i1.13551}, keywords = {conference}, topics = {multiagent, temporal}, file = {publications/boerkoel2013distributedalg.pdf} } @inproceedings{boerkoel2012distributed, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {A distributed approach to summarizing spaces of multiagent schedules}, booktitle = {Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence}, pages = {1742--1748}, year = {2012}, doi = {10.1609/aaai.v26i1.8368}, url = {https://dl.acm.org/doi/10.5555/2566972.2566976}, keywords = {conference}, topics = {multiagent, scheduling}, file = {publications/boerkoel2012distributed.pdf} } @inproceedings{boerkoel2012distributedarms, author = {Boerkoel, James C. and Planken, L{\'e}on}, title = {Distributed algorithms for incrementally maintaining multiagent simple temporal networks}, booktitle = {Proceedings of the AAMAS 2012 Workshop on Autonomous Robots and Multirobot Systems (ARMS)}, year = {2012}, keywords = {workshop}, topics = {multiagent, temporal} } @inproceedings{boerkoel2011distributed, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Distributed algorithms for solving the multiagent temporal decoupling problem}, booktitle = {The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 1}, series = {AAMAS ’11}, pages = {141--148}, year = {2011}, publisher = {International Foundation for Autonomous Agents and Multiagent Systems}, address = {Taipei, Taiwan}, isbn = {0982657153}, doi = {10.65109/mqtp9765}, url = {https://dl.acm.org/doi/abs/10.5555/2030470.2030491}, keywords = {conference}, topics = {multiagent, temporal}, file = {publications/boerkoel2011distributed.pdf}, abstract = {Scheduling agents can use the Multiagent Simple Temporal Problem (MaSTP) formulation to efficiently find and represent the complete set of alternative consistent joint schedules in a distributed and privacy-maintaining manner. However, continually revising this set of consistent joint schedules as new constraints arise may not be a viable option in environments where communication is uncertain, costly, or otherwise problematic. As an alternative, agents can find and represent a temporal decoupling in terms of locally independent sets of consistent schedules that, when combined, form a set of consistent joint schedules. Unlike current algorithms for calculating a temporal decoupling that require centralization of the problem representation, in this paper we present a new, provably correct, distributed algorithm for calculating a temporal decoupling. We prove that this algorithm has the same theoretical computational complexity as current state-of-the-art MaSTP solution algorithms, and empirically demonstrate that it is more efficient in practice. We also introduce and perform an empirical cost/benefit analysis of new techniques and heuristics for selecting a maximally flexible temporal decoupling.} } @inproceedings{boerkoel2011challenges, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Challenges in maintaining minimal, decomposable disjunctive temporal problems}, booktitle = {Proceedings of the IJCAI 2011 Workshop on Artificial Intelligence and Logistics (AILog-2011)}, year = {2011}, url = {https://www.sfbtr8.spatial-cognition.de/ailog-2011/ailog-downloads/2011/AILog-2011-Proceedings.pdf#page=13}, keywords = {workshop}, topics = {temporal} } @inproceedings{durfee2011comparing, author = {Durfee, Edmund H. and Boerkoel, James C. and Sleight, Jason}, title = {Comparing techniques for the semi-autonomous formation of expert teams}, booktitle = {2011 International Conference on Collaboration Technologies and Systems (CTS) Workshop on Multi-Agent Systems and Collaborative Technologies (I-MASC11)}, pages = {351--358}, year = {2011}, publisher = {IEEE}, doi = {10.1109/CTS.2011.5928710}, keywords = {workshop}, topics = {multiagent, scheduling} } @inproceedings{boerkoel2010comparison, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {A comparison of algorithms for solving the multiagent simple temporal problem}, booktitle = {Proceedings of the Twentieth International Conference on Automated Planning and Scheduling}, series = {ICAPS ’10}, pages = {26--33}, year = {2010}, publisher = {AAAI Press}, address = {Toronto, Ontario, Canada}, doi = {10.1609/icaps.v20i1.13420}, url = {https://dl.acm.org/doi/10.5555/3037334.3037339}, keywords = {conference}, topics = {multiagent, temporal}, abstract = {The Simple Temporal Problem (STP) is a popular representation for solving centralized scheduling and planning problems. When scheduling agents are associated with different users who need to coordinate some of their activities, however, considerations such as privacy and scalability suggest solving the joint STP in a more distributed manner. Building on recent advances in STP algorithms that exploit loosely-coupled problem structure, this paper develops and evaluates algorithms for solving the multiagent STP. We define a partitioning of the multiagent STP with provable privacy guarantees, and show that our algorithms can exploit this partitioning while still finding the tightest consistent bounds on timepoints that must be coordinated across agents. We also demonstrate empirically that our algorithms can exploit concurrent computation, leading to solution time speed-ups over state-of-the-art centralized approaches, and enabling scalability to problems involving larger numbers of loosely-coupled agents.} } @inproceedings{boerkoel2010generalized, author = {Boerkoel, James C. and Durfee, Edmund H. and Purrington, Keith}, title = {Generalized solution techniques for preference-based constrained optimization with cp-nets}, booktitle = {Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems}, volume = {1}, pages = {291--298}, year = {2010}, doi = {10.65109/tafp3584}, url = {https://dl.acm.org/doi/abs/10.5555/1838206.1838247}, keywords = {conference}, file = {publications/boerkoel2010generalized.pdf} } @inproceedings{boerkoel2009evaluating, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Evaluating hybrid constraint tightening for scheduling agents}, booktitle = {Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems-Volume 1}, pages = {673--680}, year = {2009}, doi = {10.65109/wffl9283}, url = {https://dl.acm.org/doi/pdf/10.5555/1558013.1558106}, keywords = {conference}, topics = {scheduling, multiagent}, file = {publications/boerkoel2009evaluating.pdf} } @inproceedings{boerkoel2008hybrid, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Hybrid constraint tightening for solving hybrid scheduling problems}, booktitle = {Proceedings of the 23rd National Conference on Artificial Intelligence - Volume 3}, series = {AAAI ’08}, pages = {1446--1449}, year = {2008}, publisher = {AAAI Press}, address = {Chicago, Illinois}, isbn = {9781577353683}, url = {https://dl.acm.org/doi/abs/10.5555/1620270.1620301}, keywords = {conference}, topics = {scheduling}, file = {publications/boerkoel2008hybrid.pdf}, abstract = {Hybrid Scheduling Problems (HSPs) contain both temporal and finite-domain variables, as well as constraints between them. A hybrid constraint over temporal and finite-domain variables often models situations where different assignments to a subset of finite-domain variables result in different bounds on temporal constraints. The insight we examine in this paper is that some temporal constraint propagation is possible even before finite-domain variables are assigned, by giving the temporal constraint the tightest bound consistent with all (remaining) feasible finite-domain variable values. We describe a hybrid constraint-tightening algorithm that can proactively prune the search space of HSPs and is run as a preprocessing step independently of the search algorithm used. We examine the efficiency of this algorithm analytically, and give preliminary results showing that it reduces the expected runtime of search by a significant margin in the kinds of HSPs we are studying.} } @inproceedings{boerkoel2022expanding, author = {Boerkoel, James C. and Ergezer, Mehmet and Alvarado, Christine and Taylor, Valerie}, title = {Expanding computing research pathways (panel)}, booktitle = {The Conference on Research in Equity and Sustained Participation in Engineering, Computing, and Technology (RESPECT)}, year = {2022}, keywords = {other}, topics = {education} } @patent{adachi2019heuristic, author = {Adachi, Steven H. and Adair, Tessa J. and Boerkoel, James C. and Taylor W. Brent and Douglas S. Campbell and Theresa W. Lynn and Joel R. Ornstein}, title = {Heuristic graph embedding methods for adiabatic quantum computation optimization}, year = {2019}, month = {5}, note = {US Patent 10,282,674}, url = {https://patents.google.com/patent/US10282674B2}, keywords = {patent} } @inproceedings{lund2016robustexecution, author = {Lund, Kyle and Dietrich, Sam and Boerkoel, James C.}, title = {Robust execution strategies for probabilistic temporal planning (student abstract)}, booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence}, volume = {30}, year = {2016}, doi = {10.1609/aaai.v30i1.9962}, keywords = {other}, topics = {temporal} } @inproceedings{paeng2016exploring, author = {Paeng, E. and Wu, J. and Boerkoel, J. C.}, title = {Human-Robot Trust and Cooperation Through a Game Theoretic Framework (student abstract)}, booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence}, volume = {30}, year = {2016}, doi = {10.1609/aaai.v30i1.9961}, keywords = {other}, topics = {hri} } @inproceedings{boerkoel2013decouplingabstract, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Decoupling the multiagent disjunctive temporal problem (extended abstract)}, booktitle = {Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013)}, pages = {1145--1146}, year = {2013}, doi = {10.65109/islc8793}, keywords = {other}, topics = {multiagent, temporal} } @inproceedings{boerkoel2013planning, author = {Boerkoel, James C. and Shah, Julie A.}, title = {Planning for flexible human-robot co-navigation in dynamic manufacturing environments}, booktitle = {Proceedings of the Pioneers Workshop at the International Conference on Human-Robot Interaction (HRI)}, year = {2013}, keywords = {other}, topics = {hri}, file = {publications/boerkoel2013planning.pdf} } @inproceedings{boerkoel2011solving, author = {Boerkoel, James C.}, title = {Solving the multiagent selection and scheduling problem}, booktitle = {International Joint Conferences on Artificial Intelligence Doctoral Consortium}, year = {2011}, keywords = {other}, topics = {multiagent, scheduling} } @inproceedings{boerkoel2010partitioning, author = {Boerkoel, James C. and Durfee, Edmund H.}, title = {Partitioning the multiagent simple temporal problem for concurrency and privacy}, booktitle = {Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems}, pages = {1421--1422}, year = {2010}, doi = {10.65109/fpsd4539}, keywords = {other}, topics = {multiagent, temporal} } @inproceedings{nsfdue, author = {DUE-1946637}, title = {A Consortium for Cultivating Future Artificial Intelligence Researchers}, booktitle = {NSF---Improving Undergraduate STEM Education, Division of Undergraduate Education}, year = {2020--2023}, note = {\$45,900 USD}, keywords = {grant} } @inproceedings{nsfcareer, author = {IIS-1651822}, title = {CAREER: Robust and Reliable Multiagent Scheduling under Uncertainty}, booktitle = {NSF---Information \& Intelligent Systems, Computer and Information Science and Engineering}, year = {2017--2024}, note = {\$495,499.00 USD}, keywords = {grant} }