Manuela Veloso's Publications

Conference papers
• Thresholded Rewards: Acting Optimally in Timed, Zero-Sum Games,
  Colin McMillen and Manuela Veloso.
  In Proceedings of AAAI'07, Outstanding Paper Award, Vancouver, Canada, July 2007.
• Joint parameter-state estimation in multiple switching dynamic models,
  Yang Gu and Manuela Veloso.
  In {Proceedings of CIRA 2007, the 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation}, Jackonsville, FL,, June 20--23 2007.
• Towards using multiple cues for robust object recognition,
  Sarah Aboutalib and Manuela Veloso.
  In Proceedings of AAMAS'07, the Sixth International Joint Conference on Autonomous Agents and Multi-Agent Systems, Honolulu, Hawaii, May 2007.
• Confidence-based policy learning from demonstration using gaussian mixture models,
  Sonia Chernova and Manuela Veloso.
  In Proceedings of AAMAS'07, the Sixth International Joint Conference on Autonomous Agents and Multi-Agent Systems, Honolulu, Hawaii, May 2007.
• Executing multi-robot cases through a single coordinator,
  Raquel Ros Espinosa and Manuela Veloso.
  In Proceedings of AAMAS'07, the Sixth International Joint Conference on Autonomous Agents and Multi-Agent Systems, Honolulu, Hawaii, May 2007.
• Exploiting factored representations for decentralized execution in multi-agent teams,
  Maayan Roth, Reid Simmons, and Manuela Veloso.
  In Proceedings of AAMAS'07, the Sixth International Joint Conference on Autonomous Agents and Multi-Agent Systems, Honolulu, Hawaii, May 2007.
• Conditional random fields for activity recogntion,
  Douglas Vail, Manuela Veloso, and John Lafferty.
  In Proceedings of AAMAS'07, the Sixth International Joint Conference on Autonomous Agents and Multi-Agent Systems, Honolulu, Hawaii, May 2007.
• Learning to select state machines using expert advice on an autonomous robot,
  Brenna Argall, Brett Browning, and Manuela Veloso.
  In Proceedings of ICRA'2007, Rome, Italy, April 2007.
• Oracular Partially Observable Markov Decision Processes: A Very Special Case,
  Nicholas Armstrong-Crews and Manuela Veloso.
  In Proceedings of ICRA'2007, Rome, Italy, April 2007.
• Multiagent collaborative task learning through imitation,
  Sonia Chernova and Manuela Veloso.
  In Proceedings of the 4th International Symposium on Imitation in Animals and Artifacts, AIBS'07, Artificial and Ambient Intelligence, Newcastle, UK, April 2007.
• Learning by Demonstration with Critique from a Human Teacher,
  Brenna Argall, Brett Browning, and Manuela Veloso.
  In Proceedings of the 2007 Conference on Human-Robot Interaction, Washington, DC, March 2007.
• Interactive Robot Task Training through Dialog and Demonstration,
  Paul E. Rybski, Kevin Yoon, Jeremy Stolarz, and Manuela Veloso.
  In Proceedings of the 2007 Conference on Human-Robot Interaction, Washington, DC, March 2007.
  
  Journal articles
• PLTOOL: A Knowledge Engineering Approach for Planning and Learning,
  Susana Fernandez, Daniel Borrajo, Raquel Fuentetaja, Juan D. Arias, and Manuela Veloso .
  The Knowledge Engineering Review, 22(1):1--32, 2007.

Conference papers
• A Team of Humanoid Game Commentators,
  Manuela M. Veloso, Nicholas Armstrong-Crews, Sonia Chernova, Elisabeth Crawford, Colin McMillen, Maayan Roth, and Douglas Vail.
  In Proceedings of Humanoids 2006, Genoa, Italy, December 2006.
• Detection and Localization of Multiple Objects,
  Stefan Zickler and Manuela Veloso.
  In Proceedings of Humanoids 2006, Genoa, Italy, December 2006.
• Effective team-driven multi-model motion tracking with communication,
  Yang Gu and Manuela Veloso.
  In Proceedings of IROS'06, Beijing, China, October 2006.
• Retrieving and reusing game plays for robot soccer,
  Raquel Ros, Manuela Veloso, Ramon L\'opez de M\`antaras, Carles Sierra, and Josep Lluis Arcos.
  In Lecture Notes in Computer Science, Proceedings of ECCBR-2006, Oludeniz, Turkey, September 2006.
  Best Paper Award.
• Tree-based policy learning in continuous domains through teaching by demonstration,
  Sonia Chernova and Manuela Veloso.
  In Proceedings of the Modeling Other Agents from Observations (MOO 2006), Boston, PA, July 2006.
• Distributed, play-based role assignment for robot teams in dynamic environments,
  Colin McMillen and Manuela Veloso.
  In Proceedings of DARS-2006, Minneapolis, MN, July 2006.
• What to Communicate? Execution-Time Decision in Multi-agent POMDPs,
  Maayan Roth, Reid Simmons, and Manuela Veloso.
  In Proceedings of DARS-2006, Minneapolis, MN, July 2006.
• Active monte carlo recognition,
  Felix von Hundelshausen and Manuela Veloso.
  In Proceedings of KI-2006, Bremen, Germany, June 2006.
• Real-time randomized motion planning for multiple domains,
  James Bruce and Manuela Veloso.
  In Proceedings of the RoboCup Symposium 2006, Bremen, Germany, June 2006.
• Cooperative 3-robot passing and shooting in the robocup small size league,
  Ryota Nakanishi, James Bruce, Kazuhito Murakami, Tadashi Naruse, and Manuela Veloso.
  In Proceedings of the RoboCup Symposium 2006, Bremen, Germany, June 2006. <
• Reusing and Building a Policy Library,
  Fernando Fern\'andez and Manuela Veloso.
  In Proceedings of ICAPS'06, Cumbria, UK, June 2006.
• Real-time object detection using segmented and grayscale images,
  Juan Fasola and Manuela Veloso.
  In Proceedings of ICRA'2006, Orlando, Florida, May 2006.
• Probabilistic policy reuse in a reinforcement learning agent,
  Fernando Fernandez and Manuela Veloso.
  In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multi-Agent Systems , Hakodate, Japan, May 2006.
• Multi-model motion tracking under multi-agent actuators,
  Yang Gu and Manuela Veloso.
  In Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multi-Agent Systems , Hakodate, Japan, May 2006.
• The First Segway Soccer Experience: Towards Peer-to-Peer Human-Robot Teams,
  Brenna Argall, Brett Browning, Yang Gu, and Manuela Veloso.
  In Proceedings of the 2006 Conference on Human-Robot Interaction, Salt Lake City, UT, March 2006.
• Effective team-driven multi-model motion tracking,
  Yang Gu and Manuela Veloso.
  In Proceedings of the 2006 Conference on Human-Robot Interaction, Salt Lake City, UT, March 2006.
• FOCUS: a generalized method for object discovery for robots that observe and interact with humans,
  Manuela M. Veloso, Paul E. Rybski, and Felix von Hundelshausen.
  In Proceedings of the 2006 Conference on Human-Robot Interaction, Salt Lake City, UT, March 2006.
  
  Journal articles
• Safe Multi-Robot Navigation within Dynamics Constraints,
  James Bruce and Manuela Veloso.
  Proceedings of the IEEE, Special Issue on Multi-Robot Systems, 2006, to appear.
• Coach planning with opponent models for distributed execution,
  Patrick Riley and Manuela Veloso.
  Autonomous Agents and Multi-Agent Systems, 2006.
• Mechanism design for multi-agent meeting scheduling,
  Elisabeth Crawford and Manuela Veloso.
  Web Intelligence and Agent Systems, 4(2), 2006.

Conference papers
• Learning Visual Object Definitions by Observing Human Activities,
  Manuela M. Veloso, Felix vonHundelshausen, and Paul E. Rybski.
  In Proceedings of Humanoids 2005, Japan, December 2005.
• Robust Real-Time Human Activity Recognition from Tracked Face Displacements,
  Paul E. Rybski and Manuela M. Veloso.
  In Proceedings of EPIA'05, the 12th Portuguese Conference on Artificial Intelligence, Covilh\~a, Portugal, December 2005.
• Acquiring Observation Models through Reverse Plan Monitoring,
  Sonia Chernova, Elisabeth Crwaford, and Manuela Veloso.
  In Proceedings of EPIA'05, the 12th Portuguese Conference on Artificial Intelligence, Covilh\~a, Portugal, December 2005.
• Learning to Select Negotiation Strategies in Multi-Agent Meeting Scheduling,
  Elisabeth Crawford and Manuela Veloso.
  In Proceedings of EPIA'05, the 12th Portuguese Conference on Artificial Intelligence, Covilh\~a, Portugal, December 2005.
• Fast Goal Navigation with Obstacle Avoidance using a Dynamic Local Visual Model,
  Juan Fasola, Paul E. Rybski, and Manuela M. Veloso.
  In Proceedings of SBAI'05, The VII Brazilian Symposium of Artificial Intelligence, S\~ao Luiz, Brazil, September 2005.
• Learning and recognizing activities in streams of video,
  Dinesh Govindaraju and Manuela Veloso.
  In Proceedings of the AAAI Workshop on Learning in Computer Vision , 2005.
• ASET: A multi-agent planning language with nondeterministic durative tasks for bdd-based fault tolerant planning,
  Rune M. Jensen and Manuela M. Veloso.
  In Proceedings of the ICAPS'05 workshop on, 2005.
• Real-time, adaptive color-based robot vision,
  Brett Browning and Manuela Veloso.
  In Proceedings of IROS'05, Edmonton, Canada, August 2005.
• Bumping strategies for the multiagent agreement problem,
  Pragnesh Jay Modi and Manuela Veloso.
  In Proceedings of The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS'05), New York, July 2005.
• Non-Parametric Time Series Classification,
  Scott Lenser and Manuela Veloso.
  In Proceedings of ICRA'2005, Barcelona, 2005.
• Learning to track multiple people in omnidirectional video,
  Fernando de la Torre, Carlos Vallespi, Paul Rybski, Manuela Veloso, and Takeo Kanade.
  In Proceedings of ICRA'2005, Barcelona, 2005.
• CMRadar: A Personal Assistant Agent for Calendar Management,
  Pragnesh Jay Modi, Manuela Veloso, Stephen Smith, and Jean Oh.
  In Agent-Oriented Information Systems II, Lecture Notes in Computer Science, volume 3508/2005, pages 169--181. Springer-Verlag, 2005.
• Do humans adapt so that agents can understand?,
  Pragnesh Jay Modi, Kerry Hannan, and Manuela Veloso.
  In Proceedings of the Fall AAAI Symposium on Mixed-Initiative Problem-Solving Assistants , Washington D.C., November 2005.
  
  Journal articles and book chapters
• SPIRAL: Code Generation for DSP Transforms,
  Markus Pueschel and Jose Moura and Jeremy Johnson and David Padua and Manuela Veloso and Bryan Singer and Jianxin Xiong and Franz Franchetti and Aca Gacic and Yevgen Voronenko and Kang Chen and Robert W. Johnson and Nick Rizzolo.
  Proceedings of the IEEE, Special Issue on Program Generation, Optimization, and Platform Adaptation, February 2005.
• Turning Segways into soccer robots,
  Brett Browning and Jeremy Searock and Paul E. Rybski and Manuela Veloso.
  Industrial Robot: An International Journal, 32(2):149--156, 2005.
• Decentralized Communication Strategies for Coordinated Multi-Agent Policies,
  Maayan Roth, Reid Simmons, and Manuela Veloso.
  In Multi-Robot Systems: From Swarms to Intelligent Automata, Volume III , 2005.
• Real-Time Multi-Robot Motion Planning with Safe Dynamics,
  James Bruce and Manuela Veloso.
  In Multi-Robot Systems: From Swarms to Intelligent Automata, Volume III , 2005.
• Levels of Multi-robot Coordination for Dynamic Environments,
  Colin McMillen, Paul Rybski, and Manuela Veloso.
  In Multi-Robot Systems: From Swarms to Intelligent Automata, Volume III , 2005.
• Multiagent planning in the presence of multiple goals,
  Michael H. Bowling, Rune M. Jensen, and Manuela M. Veloso.
  In Planning in Intelligent Systems: Aspects, Motivations and Methods . John Wiley & Sons, Inc., 2005.
• STP: Skills, tactics and plays for multi-robot control in adversarial environments,
  Brett Browning, James Bruce, Michael Bowling, and Manuela Veloso.
  IEEE Journal of Control and Systems Engineering, 219:33--52, 2005.

• SPIRAL: A Generator for Platform-Adapted Libraries of Signal Processing Algorithms,
  Markus Pueschel, Bryan Singer, Jianxin Xiong, Jose' M. F. Moura, Jeremy Johnson, David Padua, Manuela Veloso, and Robert W. Johnson.
  Journal of High Performance Computing and Applications, 18(1):21--45, 2004.
• Opportunities for learning in multi-agent meeting scheduling,
  Elisabeth Crawford and Manuela Veloso.
  In Proceedings of the AAAI 2004 Symposium on Artificial Multiagent Learning, Washington, DC, October 2004.
• An Evolutionary Approach To Gait Learning For Four-Legged Robots,
  Sonia Chernova and Manuela Veloso.
  In Proceedings of IROS'04, Sendai, Japan, September 2004.
• State Identification From Robot Sensors Using Non-Parametric Statistics,
  Scott Lenser and Manuela Veloso.
  In Proceedings of IROS'04, Sendai, Japan, September 2004.
• People Detection and Tracking in High Resolution Panoramic Video Mosaics,
  Raju Patil, Paul Rybski, Taeko Kanade, and Manuela Veloso.
  In Proceedings of IROS'04, Sendai, Japan, September 2004.
• Turning Segways into Soccer Robots,
  Jeremy Searock, Brett Browning, and Manuela Veloso.
  In Proceedings of IROS'04, Sendai, Japan, September 2004.
• Mechanism design for multi-agent meeting scheduling, including time preferences, availability, and value of presence,
  Elisabeth Crawford and Manuela Veloso.
  In Proceedings of the 2004 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, Beijing, China,, September 20--24 2004.
• Skill Acquisition and Use for a Dynamically-Balancing Soccer Robot,
  Brett Browning, Ling Xu, and Manuela Veloso.
  In Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-04), San Jose, July 2004.
• Advice Generation from Observed Execution: Abstract Markov Decision Process Learning,
  Patrick Riley and Manuela Veloso.
  In Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-04), San Jose, July 2004.
• Accurate and flexible simulation for dynamic, vision-centric robots,
  Jared Go, Brett Browning, and Manuela Veloso.
  In Proceedings of The Third International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS04), New York, July 2004.
• Behavior programming language and automated code generation for agent behavior control,
  Thuc Vu and Manuela Veloso.
  In Proceedings of The Third International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS04), New York, July 2004.
• Using sparse visual data to model human activities in meetings,
  Paul Rybski and Manuela Veloso.
  In Proceedings of Modeling Other Agents from Observations (MOO 2004), an AAMAS'04 Workshop, New York, July 2004.
• CMRadar: A Personal Assistant Agent for Calendar Management,
  Pragnesh Jay Modi, Manuela Veloso, Stephen Smith, and Jean Oh.
  In Proceedings of the Fifth International Workshop on Agent Oriented Information Systems (AOIS), New York, July 2004.
• Learning from accelerometer data on a legged robot,
  Douglas Vail and Manuela Veloso.
  In Proceedings of the 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles (IAV2004), Lisbon, Portugal, July 2004.
• CommLang: Communication for Coachable Agents,
  John Davin, Patrick Riley, and Manuela Veloso.
  In Proceedings of the RoboCup International Symposium, Lisbon, Portugal, July 2004.
• Segway CM-RMP Robot Soccer Player
  Jeremy Searock, Brett Browning, and Manuela Veloso.
  In Proceedings of the RoboCup International Symposium, Lisbon, Portugal, July 2004.
• Plays as team plans for coordination and adaptation,
  Michael Bowling, Brett Browning, and Manuela Veloso.
  In Proceedings of the 14th International Conference on Automated Planning and Scheduling (ICAPS-04), Vancouver, June 2004.
• Fault Tolerant Planning: Toward Probabilistic Uncertainty Models in Symbolic Non-Deterministic Planning,
  Rune M. Jensen, Manuela M. Veloso, and Randy E. Bryant.
  In Proceedings of the 14th International Conference on Automated Planning and Scheduling (ICAPS-04), Vancouver, June 2004.
• Development of a soccer-playing dynamically-balancing mobile robot,
  Brett Browning, Paul Rybski, Jeremy Searock, and Manuela Veloso.
  In Proceedings of ICRA-2004, New Orleans, May 2004.
• Learning and using models of kicking motions for legged robots,
  Sonia Chernova and Manuela Veloso.
  In Proceedings of ICRA-2004, New Orleans, May 2004.
• CAMEO: Camera Assisted Meeting Event Observer,
  Paul E. Rybski, Fernando de la Torre, Raju Patil, Carlos Vallespi, Manuela Veloso, and Brett Browning.
  In Proceedings of ICRA-2004, New Orleans, May 2004.
• CMRoboBits: Creating and Intelligent AIBO Robot,
  Manuela Veloso, Scott Lenser, Douglas Vail, Paul E. Rybski, Nick Aiwazian, and Sonia Chernova.
  In Proceedings of the AAAI Spring Symposium on Accessible Hands-on Artificial Intelligence and Robotics Education, Stanford, March 2004.

• DISTILL: Towards learning domain-specific planners by example,
  Elly Winner and Manuela Veloso.
  In Proceedings of ICML'03, Washington, DC, August 2003.
• Autonomous robot soccer teams,
  Manuela Veloso.
  The Bridge, National Academy of Engineering, 33(1):8--12, Spring 2003.
• Visual sonar: Fast obstacle avoidance using monocular vision,
  Scott Lenser and Manuela Veloso.
  In Proceedings of IROS'03, October 2003.
• A world model for multi-robot teams with communication,
  Maayan Roth, Douglas Vail, and Manuela Veloso.
  In Proceedings of IROS'03, October 2003.
• Simultaneous adversarial multi-robot learning,
  Michael Bowling and Manuela Veloso.
  In Proceedings of IJCAI'03, August 2003.
• A formalization of equilibria for multiagent planning,
  Michael Bowling, Rune Jensen, and Manuela Veloso.
  In Proceedings of IJCAI'03 Worskshop, August 2003.
• An Overview of Coaching with Limitations,
  Patrick Riley and Manuela Veloso.
  In Proceedings of AAMAS'03, July 2003.
• MONAD: A flexible architecture for multi-agent control,
  Thuc Vu, Jared Go, Gal Kaminka, Manuela Veloso, and Brett Browning.
  In Proceedings of AAMAS'03, July 2003.
• Plays as team plans for coordination and adaptation,
  Michael Bowling, Brett Browning, Allen Chang, and Manuela Veloso.
  In Proceedings of the RoboCup'03 Symposium, July 2003.
• Guided symbolic universal planning,
  Rune Jensen, Manuela Veloso, and Randy Bryant.
  In Proceedings of ICAPS'03, June 2003.
• Fast and accurate vision-based pattern detection and identification,
  James Bruce and Manuela Veloso.
  In Proceedings of ICRA'03, the 2003 IEEE International Conference on Robotics and Automation, Taipe, Taiwan, May 2003.
• Multi-robot team response to a multi-robot opponent team,
  James Bruce, Michael Bowling, Brett Browning, and Manuela Veloso.
  In Proceedings of ICRA'03, the 2003 IEEE International Conference on Robotics and Automation, Taiwan, May 2003.
• Automatic detection and response to environmental change,
  Scott Lenser and Manuela Veloso.
  In Proceedings of ICRA'03, the 2003 IEEE International Conference on Robotics and Automation, Taipe, Taiwan, May 2003.
• Dynamic multi-robot coordination,
  Douglas Vail and Manuela Veloso,
  In Multi-Robot Systems: From Swarms to Intelligent Automata, A. Schultz, L. Parker, and F. Schneider (eds.), Volume II, pages 87--100. Kluwer Academic Publishers, 2003.
• TTree: Tree-based state generalization with temporally abstract actions,
  William Uther and Manuela Veloso.
  In Adaptive Agents and Multi-Agent Systems, volume LNAI 2636, pages 266--296. Springer, 2003.

• Multiagent learning using a variable learning rate,
  Michael Bowling and Manuela Veloso.
  Artificial Intelligence 136:215-250, 2002.
• Automating the modeling and optimization of the performance of signal transforms,
  Bryan Singer and Manuela Veloso.
  IEEE Transactions on Signal Processing, 2002, in press.
• Learning to Construct Fast Signal Processing Implementations,
  Bryan Singer and Manuela Veloso.
  Journal of Machine Learning Research 3(2002) 887-919 .
• Real-time randomized path planning for robot navigation,
  James Bruce and Manuela Veloso.
  In Proceedings of IROS-2002, Switzerland, October 2002.
  An earlier version of this paper appears in the Proceedings of the RoboCup-2002 Symposium.
• SetA*: An efficient BDD-based heuristic search algorithm,
  Rune M. Jensen, Randy E. Bryant, and Manuela M. Veloso.
  In Proceedings of AAAI-2002, Edmonton, Canada, August 2002.
• A formalization of equilibria for multiagent planning,
  Michael Bowling, Rune Jensen, and Manuela Veloso.
  In Proceedings of the AAAI-2002 Workshop on Multiagent Planning, Edmonton, Canada, August 2002.
• Scalable learning in stochastic games,
  Michael Bowling and Manuela Veloso.
  In Proceedings of the AAAI-2002 Workshop on Game Theoretic and Decision Theoretic Agents, Edmonton, Canada, August 2002.
• TTree: Tree-based state generalization with temporally abstract actions,
  William Uther and Manuela Veloso.
  In Proceedings of SARA-2002, Edmonton Canada, August 2002.
• An empirical study of coaching,
  Patrick Riley, Manuela Veloso, and Gal Kaminka.
  In Proceedings of DARS-2002, the Seventh International Symposium on Distributed Autonomous Robotic Systems, Fukuoka, Japan, June 2002.
• Principled monitoring of distributed agents for detection of coordination failure,
  Brett Browning, Gal Kaminka, and Manuela Veloso.
  In Proceedings of DARS-2002, the Seventh International Symposium on Distributed Autonomous Robotic Systems, Fukuoka, Japan, June 2002.
• Integration of advice in an action-selection architecture,
  Paul Carpenter, Patrick Riley, Manuela Veloso, and Gal Kaminka.
  In Proceedings of the RoboCup-2002 Symposium, Fukuoka, Japan, June 2002.
• Learning the sequential coordinated behavior of teams from observations,
  Gal Kaminka, Mehmet Fidanboylu, Allen Chang, and Manuela Veloso.
  In Proceedings of the RoboCup-2002 Symposium, Fukuoka, Japan, June 2002.
• Improbability Filtering for Rejecting False Positives,
  Brett Browning, Michael Bowling, and Manuela Veloso. In Proceedings of ICRA-02, the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, May 2002.
• Planning for distributed execution through use of probabilistic opponent models, Best Paper Award,
  Patrick Riley and Manuela Veloso.
  In Proceedings of the Sixth International Conference on Artificial Intelligence Planning Systems, Toulouse, France, April 2002.
• Analyzing plans with conditional effects,
  Elly Winner and Manuela Veloso. In Proceedings of AIPS-02, the Sixth International Conference on Artificial Intelligence Planning Systems, Toulouse, France, April 2002.
• An efficient BDD-based a* algorithm,
  Rune M. Jensen, Randy E. Bryant, and Manuela M. Veloso.
  In Proceedings of AIPS'02 Workshop on Planning via Model Checking, Toulouse, April 2002.
• Towards planning and execution for information retrieval,
  Laurie Hiyakumoto and Manuela Veloso.
  In Proceedings of AIPS'02 Workshop on Exploring Real-World Planning, Toulouse, April 2002.
• Automatically acquiring planning templates from example plans,
  Elly Winner and Manuela Veloso.
  In Proceedings of AIPS'02 Workshop on Exploring Real-World Planning, Toulouse, April 2002.
• Fast Parametric Transitions for Smooth Quadrupedal Motion,
  James Bruce, Scott Lenser, and Manuela Veloso. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002.
• A modular hierarchical behavior-based architecture,
  Scott Lenser, James Bruce, and Manuela Veloso. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002.
• Recognizing Probabilistic Opponent Movement Models,
  Patrick Riley and Manuela Veloso. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002.
• ChaMeleons-01 Team Description,
  Paul Carpenter, Patrick Riley, Gal Kaminka, Manuela Veloso, Ignacio Thayer, and Robert Wang. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002.
• CM-Pack'01: Fast Legged Robot Walking, Robust Localization, and Team Behaviors
  William Uther, Scott Lenser, James Bruce, Martin Hock, and Manuela Veloso. In A. Birk, S. Coradeschi, and S. Tadokoro, editors, RoboCup-2001: The Fifth RoboCup Competitions and Conferences. Springer Verlag, Berlin, 2002.
• Existence of multiagent equilibria with limited agents,
  Michael Bowling and Manuela M. Veloso.
  Technical report CMU-CS-02-104, Computer Science Department, Carnegie Mellon University, 2002.

• Stochastic search for signal processing algorithm optimization,
  Bryan Singer and Manuela M. Veloso. In Proceedings of SC2001 - Scientific Computing, 2001, Denver, Colorado, November 2001.
• Optimistic and strong cyclic adversarial planning,
  Rune Jensen, Manuela Veloso, and Michael Bowling. In Proceedings of ECP-2001, European Conference on Planning, Toledo, Spain, October 2001.
• Rational learning of mixed equilibria in stochastic games,
  Michael Bowling and Manuela Veloso. In Proceedings of IJCAI-2001, August 2001.
• Convergence of gradient dynamics with a variable learning rate,
  Michael Bowling and Manuela Veloso. In Proceedings of ICML-2001, pages 27--34, Williams College, MA, June 2001.
• Learning to generate fast signal processing implementations,
  Bryan Singer and Manuela Veloso. In Proceedings of ICML-2001, pages 529--536, Williams College, MA, June 2001.
• Observing ants: Tracking and analyzing the behavior of live ant colonies,
  Tucker Balch, Zia Kahn, and Manuela Veloso. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001.
• CMPack: A complete software system for autonomous legged soccer robots,
  Scott Lenser, James Bruce, and Manuela Veloso. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001. Best Paper Award in the Software Prototypes Track, Honorary Mention.
• Coaching a Simulated Soccer Team by Opponent Model Recognition,
  Patrick Riley and Manuela Veloso. In Proceedings of the Fifth International Conference on Autonomous Agents, May 2001.
• Fast automatic generation of DSP algorithms,
  Markus Pueschel, Bryan Singer, Manuela Veloso, and Jos\'e M.F. Moura. In Proceedings of the Special Session on Architecture-Specific Automatic Performance Tuning at the International Conference on Computational Science, April 2001.
• CM-Pack'00,
  Scott Lenser, James Bruce, and Manuela Veloso. In P. Stone, T. Balch, and G. Kraetzschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 623--626. Springer Verlag, Berlin, 2001.
• ATT-CMUnited-2000: Third place finisher in the RoboCup-2000 simulator league,
  Patrick Riley, Peter Stone, David McAllester, and Manuela Veloso. In P. Stone, T. Balch, and G. Kraetzschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 489--492. Springer Verlag, Berlin, 2001.
• Selecting heterogeneous team players by case-based reasoning: A case study in robotic soccer simulation,
  Thomas Gabel and Manuela M. Veloso.
  Technical report CMU-CS-01-165, Computer Science Department, Carnegie Mellon University, 2001.

• An analysis of stochastic game theory for multiagent reinforcement learning,
  Michael Bowling and Manuela M. Veloso. Technical report CMU-CS-00-165, 2000.
• Fast and inexpensive color image segmentation for interactive robots,
  James Bruce, Tucker Balch, and Manuela Veloso. In Proceedings of IROS-2000, Japan, October 2000.
• OBBD-based Universal planning for synchronized agents in non-deterministic domains,
  Rune Jensen and Manuela Veloso, Journal of Artificial Intelligence Research, 13, pages 189-226, 2000. (A shorter version, OBDD-based Universal Planning for Multiple Synchronized Agents in Non-Deterministic Domains, appeared in the Proceedings of AIPS-2000, Breckenridge, April 2000, pages 167-176.)
• OBDD-based Deterministic Planning using the UMOP Planning Framework,
  Rune Jensen and Manuela Veloso. In Proceedings of the AIPS-2000 Worskhop on Model-Theoretic Approaches to Planning , Breckenridge, April 2000.
• Sensor resetting localization for poorly modelled mobile robots,
  Scott Lenser and Manuela Veloso. In Proceedings of ICRA-2000, San Francisco, April 2000.
• Layered disclosure: Revealing agents' internals,
  Patrick Riley, Peter Stone, and Manuela Veloso. In Proceedings of ATAL-2000, Boston, July 2000.
• On behavior classification in adversarial environments,
  Patrick Riley and Manuela Veloso. In Proceedings of DARS-2000, the Fifth International Symposium on Distributed Autonomous Robotic Systems, October 2000. (A student abstract on this work is in Proceedings of AAAI-2000, Austin, August 2000.)
• Learning to predict performance from formula modeling and training data,
  Bryan Singer and Manuela Veloso, In Proceedings of ICML-2000, Stanford, July 2000.
• Automated Formula Generation and Performance Learning for the FFT,
  Bryan Singer and Manuela Veloso. Technical report CMU-CS-00-123, 2000.
• Defining and using ideal teammate and opponent agent models,
  Peter Stone, Patrick Riley, and Manuela Veloso. In Proceedings of IAAI-2000, Austin, August 2000.
• The CMUnited-99 champion simulator team,
  Peter Stone, Patrick Riley, and Manuela Veloso, In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pages 35-44. Springer Verlag, Berlin, 2000.
• CMUnited-98: RoboCup-98 simulator world champion team,
  Peter Stone, Manuela Veloso, and Patrick Riley. AI Magazine, 21(1):20-28, Spring 2000.
• Multiagent systems: A survey from a machine learning perspective,
  Peter Stone and Manuela Veloso, Autonomous Robots, Volume 8, number 3, July 2000.
• Efficient learning through evolution: Neural programming and internal reinforcement,
  Astro Teller and Manuela Veloso. In Proceedings of ICML-2000, Stanford, July 2000.
• Internal reinforcement in a connectionist genetic programming approach,
  Astro Teller and Manuela Veloso, Artificial Intelligence, 120/2, July 2000.
• The lumberjack algorithm for learning linked decision forests,
  William Uther and Manuela Veloso. In Proceedings of PRICAI-2000, August 2000.
• Integrating information agents, planning, and execution monitoring,
  Manuela Veloso, Tucker Balch, and Scott Lenser. In Proceedings of Agents-2000, Barcelona, June 2000.
• CMUnited-98: RoboCup-98 small-robot world champion team,
  Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone, AI Magazine, 21(1):29-36, Spring 2000.
• Overview of RoboCup-99,
  Manuela Veloso, Hiroaki Kitano, Enrico Pagello, Gerhard Kraetzschmar, Peter Stone, Tucker Balch, Minoru Asada, Silvia Coradeschi, Lars Karlsson, and Masahiro Fujita, In M. Veloso, E. Pagello, and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, pages 1-34. Springer Verlag, Berlin, August 2000.
• RoboCup-99: Robot Soccer World Cup III,
  Manuela Veloso, Enrico Pagello, and Hiroaki Kitano, editors, Springer-Verlag, August 2000.
• Vision-servoed localization and behavior-based planning for an autonomous quadruped legged robot,
  Manuela Veloso, Elly Winner, Scott Lenser, James Bruce, and Tucker Balch, In Proceedings of AIPS-2000, Breckenridge, April 2000.
• Multi-fidelity behaviors: Acting with variable state information,
  Elly Winner and Manuela Veloso. In Proceedings of AAAI-2000, Austin, August 2000.

• Artificial Intelligence Today: Recent Trends and Developments,
  Michael Wooldridge and Manuela Veloso, editors, Springer-Verlag, June 1999.
• Motion control in dynamic multi-robot environments,
  Michael Bowling and Manuela Veloso.
  In Proceedings of The 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'99), Monterrey, November 1999.
• Task decomposition, dynamic role assignment, and low-bandwidth communication for real-time strategic teamwork,
  Peter Stone and Manuela Veloso. Artificial Intelligence, 110(2):241-273, June 1999.
• The CMUnited-98 champion small robot team,
  Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 77-92. Springer Verlag, Berlin, 1999.
• The CMTrio-98 Sony legged robot team,
  Manuela Veloso and William Uther. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 491-497. Springer Verlag, Berlin, 1999.
• The CMUnited-98 champion simulator team,
  Peter Stone, Manuela Veloso, and Patrick Riley. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 61-76. Springer Verlag, Berlin, 1999.
• Team-partitioned, opaque-transition reinforcement learning,
  Peter Stone and Manuela Veloso. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II, pages 261-272. Springer Verlag, Berlin, 1999. (A shorter version appeared in the Proceedings of the Third International Conference on Autonomous Agents, pages 206-212, 1999.)
• RoboCup: Today and tomorrow - What we have have learned,
  Minoru Asada, Hiroaki Kitano, Itsuki Noda, and Manuela Veloso. Artificial Intelligence, 110:193-214, 1999.
• The CMUnited-97 robotic soccer team: Perception and multiagent control,
  Manuela Veloso, Peter Stone, and Kwun Han. Robotics and Autonomous Systems, 29 (2-3):133-143, 1999.
• Learning situation-dependent costs: Improving planning from probabilistic robot execution,
  Karen Zita Haigh and Manuela M. Veloso. Robotics and Autonomous Systems, 29 (2-3):145-174, 1999.
• Anticipation as a key for collaboration in a team of agents: A case study in robotic soccer,
  Manuela Veloso, Peter Stone, and Michael Bowling. In Proceedings of SPIE Sensor Fusion and Decentralized Control in Robotic Systems II, volume 3839, Boston, September 1999.
• Goal-based personalities and social behaviors in believable agents,
  Paola Rizzo, Manuela Veloso, Maria Miceli, and Amedeo Cesta. Applied Artificial Intelligence, 13:239-272, 1999.
• CMUnited-98: A team of robotic soccer agents,
  Manuela Veloso, Michael Bowling, Sorin Achim, Kwun Han, and Peter Stone. In Proceedings of IAAI-99, 1999.
• Bounding the suboptimality of reusing subproblems,
  Michael Bowling and Manuela Veloso. In Proceedings of IJCAI-99, 1999.
• Automated robot behavior recognition applied to robotic soccer,
  Kwun Han and Manuela Veloso.
  In John Hollerbach and Dan Koditschek, editors, Robotics Research: the Ninth International Symposium, pages 199--204. Springer-Verlag, London, 2000.
  Also in the Proceedings of IJCAI-99 Workshop on Team Behaviors and Plan Recognition.
• Learning state features from policies to bias exploration in reinforcement learning,
  Bryan Singer and Manuela Veloso.
  Technical report CMU-CS-99-122, 1999.

• Interleaving planning and robot execution for asynchronous user requests,
  Karen Zita Haigh and Manuela M. Veloso. Autonomous Robots, 5(1):79-95, March 1998.
• A layered approach to learning client behaviors in the RoboCup soccer server,
  Peter Stone and Manuela Veloso. Applied Artificial Intelligence, 12:165-188, 1998.
• Towards collaborative and adversarial learning: A case study in robotic soccer,
  Peter Stone and Manuela Veloso. International Journal of Human-Computer Systems, 48, 1998.
• Goal-based personalities and social behaviors in believable agents,
  Paola Rizzo, Manuela Veloso, Maria Miceli, and Amedeo Cesta. Applied Artificial Intelligence, 1998, in press.
• Walking soccer-playing robots,
  Manuela Veloso, William Uther, and Masahiro Fujita. Robot Science and Technology Magazine, November 1998.
• CMUnited-97: RoboCup-97 small-robot world champion team,
  Manuela Veloso, Peter Stone, and Kwun Han. AI Magazine, 19(3):61-69, 1998.
• CMUnited: A team of robotic soccer agents collaborating in an adversarial environment,
  Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. Crossroads, 4.3, February 1998.
• Communication in domains with unreliable, single-channel, low-bandwidth communication,
  Peter Stone and Manuela Veloso. In Alexis Drogoul, Milind Tambe, and Toshio Fukuda, editors, Collective Robotics, pages 85-97. Springer Verlag, Berlin, July 1998.
• The CMUnited'97 simulator team,
  Peter Stone and Manuela Veloso. In Hiroaki Kitano, editor, RoboCup-97: The First Robot World Cup Soccer Games and Conferences. Springer Verlag, Berlin, 1998.
• The CMUnited-97 Small Robot Team,
  Manuela Veloso, Peter Stone, Kwun Han, and Sorin Achim. In Hiroaki Kitano, editor, RoboCup-97: The First Robot World Cup Soccer Games and Conferences. Springer Verlag, Berlin, 1998.
• Bounding the suboptimality of reusing subproblems,
  Michael Bowling and Manuela Veloso. In Proceedings of the NIPS Workshop on Abstraction in Reinforcement Learning, December 1998.
• Playing soccer with legged robots,
  Manuela Veloso, William Uther, Masahiro Fujita, Minoru Asada, and Hiroaki Kitano. In Proceedings of IROS-98, Intelligent Robots and Systems Conference, Victoria, Canada, October 1998.
• Interleaving deliberative and reactive planning in dynamic multi-agent domains,
  Rune M. Jensen and Manuela M. Veloso. In Proceedings of the AAAI Fall Symposium on on Integrated Planning for Autonomous Agent Architectures. AAAI Press, October 1998.
• Goal transformations in continuous planning,
  Michael T. Cox and Manuela M. Veloso. In Proceedings of the AAAI Fall Symposium on Distributed Continual Planning. AAAI Press, October 1998.
• Tree based discretization for continuous state space reinforcement learning,
  William T. B. Uther and Manuela M. Veloso. In Proceedings of AAAI-98, Madison, WI, July 1998.
• Rationale-based monitoring for continuous planning in dynamic environments,
  Manuela M. Veloso, Martha E. Pollack, and Michael T. Cox. In Proceedings of the Fourth International Conference on Artificial Intelligence Planning Systems, pages 171-179, Pittsburgh, PA, June 1998.
• Planning, Execution and Learning in a Robotic Agent,
  Karen Zita Haigh and Manuela M. Veloso. In Proceedings of the Fourth International Conference on Artificial Intelligence Planning Systems, pages 120-127, Pittsburgh, PA, June 1998.
• Individual and collaborative behaviors in a team of homogeneous robotic soccer agents,
  Manuela Veloso and Peter Stone. In Proceedings of the Third International Conference on Multi-Agent Systems, pages 309-316, Paris, July 1998.
• Reactive visual control of multiple non-holonomic robotic agents,
  Kwun Han and Manuela Veloso. In Proceedings of the International Conference on Robotics and Automation, Leuven,Belgium, May 1998.
• The CMUnited-97 robotic soccer team: Perception and multiagent control,
  Manuela Veloso, Peter Stone, and Kwun Han. In Proceedings of the Second International Conference on Autonomous Agents, Minneapolis, MN, May 1998.
• Learning situation-dependent costs: Improving planning from probabilistic robot execution,
  Karen Zita Haigh and Manuela M. Veloso. In Proceedings of the Second International Conference on Autonomous Agents, Pages 231-238, Minneapolis, MN, May 1998.
• Multiagent systems: A survey from a machine learning perspective,
  Peter Stone and Manuela Veloso.
  Available as Technical report CMU-CS-97-193, 1997.

• Exploiting geometry in analogical route planning,
  Karen Z. Haigh, Jonathan Shewchuk, and Manuela M. Veloso. Journal of Experimental and Theoretical Artificial Intelligence, 9:509-541, 1997.
• Xavier: Experience with a Layered Robot Architecture,
  Reid G. Simmons, Richard Goodwin, Karen Zita Haigh, Sven Koenig, Joseph O'Sullivan, and Manuela M. Veloso. In the ACM Sigart Bulletin, 8(1-4):22-33, 1997.
• The robocup synthetic agent challenge 97,
  H. Kitano, M. Tambe, P. Stone, M. Veloso, S. Coradeschi, E. Osawa, H. Matsubara, I. Noda, and M. Asada. In Proceedings of IJCAI-97, Nagoya, Japan, August 1997.
• Rationale-supported mixed-initiative case-based planning,
  Manuela Veloso, Alice Mulvehill, and Michael Cox. In Proceedings of IAAI-97, Innovative Applications of Artificial Intelligence, pages 1072-1077, Providence, Rhode Island, July 1997.
• Analogical replay for efficient conditional planning,
  Jim Blythe and Manuela M. Veloso. In Proceedings of AAAI-97, pages 668-673, Providence, Rhode Island, July 1997.
• PADO: A new learning architecture for object recognition,
  Astro Teller and Manuela M. Veloso. In K. Ikeuchi and M. Veloso, editors, Symbolic Visual Learning, pages 77-112. Oxford Press, 1997.
• Merge strategies for multiple case plan replay,
  Manuela M. Veloso. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-97, the Second International Conference on Case-Based Reasoning, pages 413-424. Springer Verlag, 1997.
• Supporting combined human and machine planning: An interface for planning by analogical reasoning,
  Michael T. Cox and Manuela M. Veloso. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-97, the Second International Conference on Case-Based Reasoning, pages 531-540. Springer Verlag, 1997.
• Gensat: A navigational approach,
  Yury Smirnov and Manuela M. Veloso. In Proceedings of EPIA-97, the Eighth Portuguese Conference on Artificial Intelligence, pages 85-96. Springer Verlag, 1997.
• Controlling for unexpected goals when planning in a mixed-initiative setting,
  Michael T. Cox and Manuela M. Veloso. In Proceedings of EPIA-97, the Eighth Portuguese Conference on Artificial Intelligence, pages 309-318. Springer Verlag, 1997.

• Symbolic Visual Learning,
  Katsu Ikeuchi and Manuela Veloso, editors.
  Oxford University Press, March 1997.
• Case-Based Reasoning Research and Development,
  Manuela Veloso and Agnar Aamodt, editors.
  Springer Verlag, October 1995.
• Planning and Learning by Analogical Reasoning,
  Manuela M. Veloso.
  Springer Verlag, December 1994.
  
• Lazy incremental learning of control knowledge for efficiently obtaining quality plans,
  Daniel Borrajo and Manuela Veloso. AI Review Journal. Special Issue on Lazy Learning, 10:1-34, 1996.
• General-purpose case-based planning: Methods and systems,
  Manuela M. Veloso, H\'ector Munoz-Avila, and Ralph Bergmann. AI Communications, 9(3):128-137, 1996. (This article appeared in Kuenstliche Intelligenz, 1:22-28, 1996, in German (with reversed order of the authors).).
• Program evolution for data mining,
  Astro Teller and Manuela M. Veloso. International Journal of Expert Systems, 8(3):213-236, 1995.
• FLECS: Planning with a flexible commitment strategy,
  Manuela M. Veloso and Peter Stone. Journal of Artificial Intelligence Research, 3:25-52, 1995.
• Integrating planning and learning: The PRODIGY architecture,
  Manuela M. Veloso, Jaime Carbonell, M. Alicia P\'erez, Daniel Borrajo, Eugene Fink, and Jim Blythe. Journal of Experimental and Theoretical Artificial Intelligence, 7(1):81-120, 1995.
• Derivational analogy in PRODIGY: Automating case acquisition, storage, and utilization,
  Manuela M. Veloso and Jaime G. Carbonell. Machine Learning, 10:249-278, 1993.
• Neural programming and internal reinforcement,
  Astro Teller and Manuela M. Veloso. In Proceedings of the First International Conference on Simulated Evolution and Learning, Taejon, South Korea, November 1996.
• Efficiency competition through representation changes: Pigeonhole principle versus linear programming relaxation,
  Yury Smirnov and Manuela M. Veloso. In Proceedings of KR'96, the Fifth International Conference on Principles of Knowledge Representation and Reasoning, November 1996.
• Predictive memory for an inaccessible environment,
  Mike Bowling, Peter Stone, and Manuela M. Veloso. In Working Notes of the IROS-96 Workshop on RoboCup, Osaka, Japan, November 1996.
• AI planning for a supervisory control system,
  Luiz E. Souza and Manuela M. Veloso. In Proceedings of the 1996 IEEE International International Conference on Systems, Man and Cybernetics, China, October 1996.
• Efficient goal-directed exploration,
  Yury Smirnov, Sven Koenig, Manuela M. Veloso, and Reid Simmons. In Proceedings of AAAI-96, the Thirteenth National Conference on Artificial Intelligence, pages 292-297, August 1996.
• Towards mixed-initiative rationale-supported planning,
  Manuela M. Veloso. In A. Tate, editor, Advanced Planning Technology, pages 277-282. AAAI Press, May 1996.
• User-guided interleaving of planning and execution,
  Peter Stone and Manuela M. Veloso. In New Directions in AI Planning, pages 103-112. IOS Press, 1996.
• Formalizing the PRODIGY planning algorithm,
  Eugene Fink and Manuela M. Veloso. In New Directions in AI Planning, pages 261-272. IOS Press, 1996.
  An earlier extended version is available as technical report CMU-CS-94-123, 1994.
• Beating a defender in robotic soccer: Memory-based learning of a continuous function,
  Peter Stone and Manuela M. Veloso. In David S. Touretzky, Michael C. Mozer, and Michael E. Hasselmo, editors, NIPS-95, Advances in Neural Information Processing Systems 8, Cambridge, MA, 1995. MIT press.
• Algorithm evolution for face recognition: What makes a picture difficult,
  Astro Teller and Manuela M. Veloso. In Proceedings of the International Conference on Evolutionary Computation. IEEE Press, 1995.
• Route Planning by Analogy,
  Karen Zita Haigh and Manuela M. Veloso. In Case-Based Reasoning Research and Development, Proceedings of ICCBR-95, M. Veloso and A. Aamodt (eds), Pages 169-180. Springer-Verlag, October 1995.
• Flexible strategy learning: Analogical replay of problem solving episodes,
  Manuela M. Veloso. In Proceedings of AAAI-94, the Twelfth National Conference on Artificial Intelligence, pages 595-600, Seattle, WA, August 1994. AAAI Press.
• Linkability: Examining causal link commitments in partial-order planning,
  Manuela M. Veloso and Jim Blythe. In Proceedings of the Second International Conference on AI Planning Systems, pages 170-175, June 1994.
• The need for different domain-independent heuristics,
  Peter Stone, Manuela M. Veloso, and Jim Blythe. In Proceedings of the Second International Conference on AI Planning Systems, pages 164-169, June 1994.
• Prodigy/Analogy: Analogical reasoning in general problem solving,
  Manuela M. Veloso. In S. Wess, K.-D. Althoff, and M. Richter, editors, Topics in Case-Based Reasoning, pages 33-50. Springer Verlag, 1994.
• Case-based reasoning in Prodigy,
  Manuela M. Veloso and Jaime G. Carbonell. In R. S. Michalski and G. Teccuci, editors, Machine Learning: A Multistrategy Approach, Volume IV, pages 523-548. Morgan Kaufmann, 1994.
• Learning by Analogical Reasoning in General Problem Solving,
  Manuela M. Veloso.
  PhD thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, August 1992.
  Available as technical report CMU-CS-92-174.
• An analysis of search techniques for a totally-ordered nonlinear planner,
  Jim Blythe and Manuela M. Veloso. In Proceedings of the First International Conference on AI Planning Systems, pages 13-19, College Park, MD, June 1992.
• Efficient nonlinear planning using casual commitment and analogical reasoning,
  Manuela M. Veloso. In Proceedings of the Thirteenth Annual Conference of the Cognitive Science Society, pages 938-943, University of Chicago, IL, August 1991. Lawrence Erlbaum.
• Nonlinear planning with parallel resource allocation,
  Manuela M. Veloso, M. Alicia P\'erez, and Jaime G. Carbonell. In Proceedings of the DARPA Workshop on Innovative Approaches to Planning, Scheduling, and Control, pages 207-212, San Diego, CA, November 1990. Morgan Kaufmann.
• Parameter estimation in nonlinear vector functions: the ESPA package,
  Ant\'onio Mano and Manuela M. Veloso. In Proceedings of the Vigo Workshop on Signal Processing, Spain, July 1981.
• A management information system for the production control of an industrial plant,
  Jos\'e M. F. Moura and Manuela M. Veloso. T\'ecnica, November 1985.
  (in Portuguese).
• A management information system for the production control of an industrial plant: Logical structure and distributed processing,
  Manuela M. Veloso.
  M.Sc. thesis, Electrical and Computer Engineering Department, Instituto Superior T\'ecnico, Lisbon, 1984.
  (in Portuguese).