2021

Trygve Olav Fossum and Cédric Travelletti and Jo Eidsvik and David Ginsbourger and Kanna Rajan, Learning excursion sets of vector-valued Gaussian random fields for autonomous ocean sampling, Annals of Applied Statistics, vol. 15.2, pp. 597-618, 2021 cite

Rajan,K and Aguado, F. and Lermusiaux, P. and de Sousa, J. and Subramaniam, A. and Tintore, J., METEOR: A Mobile (Portable) ocEan roboTic ObsErvatORy, Marine Technology Society Journal, vol. 55.3, 2021 cite url

José Pinto and Maria Costa and Keila Lima and Paulo Dias and João Pereira and Manuel Ribeiro and Renato Campos and Zara Mirmalek and Renato Mendes and Francisco Lopez Castejon and Javier Gilabert and Maria Paola Tomasino and Catarina Magalhães José C. B. da Silva and Paulo Relvas and Trent Lukaczyk and Kay Arne Skarpnes and Martin Ludvigsen and Alexander Chekalyuk and João Borges de Sousa and Kanna Rajan, To boldly dive where no one has gone before: Experiments in coordinated robotic ocean exploration, Intnl. Symp. on Experimental Robotics (ISER), 2021 cite

2020

Aya Saad and Annette Stahl and Andreas V\aage and Emlyn Davies and Tor Nordam and Nicole Aberle and Martin Ludvigsen and Geir Johnsen and João Sousa and Kanna Rajan, Advancing Ocean Observation with an AI-driven Mobile Robotic Explorer, Oceanography, 2020 cite pdf

T. O. Fossum and C. Travelletti and J. Eidsvik and D. Ginsbourger and K. Rajan, Informative Oceanographic Sampling using Excursion Probabilities for Multivariate Random Fields, arXiv, 2020 cite url

Trygve Olav Fossum and John Ryan and Tapan Mukerji and Jo Eidsvik and Thom Maughan and Martin Ludvigsen and Kanna Rajan, Compact models for adaptive sampling in marine robotics, The International Journal of Robotics Research, vol. 39.1, pp. 127-142, 2020 cite url

2019

Alberto Dallolio and Laurent Bertino, Lukas Chrpa and Tor Arne Johansen, Martin Ludvigsen, Kjell Arild Orvik, Lars H. Smedsrud and João Sousa and Ingrid B. Utne, Phil Johnston and Kanna Rajan, Long-duration Autonomy for Open Ocean Exploration: Preliminary Results & Challenges, RSS 2019 Workshop on Robots in the Wild: Challenges in Deploying Robust Autonomy for Robotic Exploration, 2019 cite pdf

Ferreira, António Sérgio and Costa, Maria and Py, Frédéric and Pinto, José and Silva, Mónica A. and Nimmo-Smith, Alex and Johansen, Tor Arne and Sousa, João Borges and Rajan, Kanna, Advancing Multi-Vehicle Deployments in Oceanographic Field Experiments, Autonomous Robots, vol. 43.6, pp. 1555–1574, 2019 cite url

Fossum, Trygve O. and Fragoso, Glaucia M. and Davies, Emlyn J. and Ullgren, Jenny E. and Mendes, Renato and Johnsen, Geir and Ellingsen, Ingrid and Eidsvik, Jo and Ludvigsen, Martin and Rajan, Kanna, Toward adaptive robotic sampling of phytoplankton in the coastal ocean, Science Robotics, vol. 4.27, 2019 cite url pdf

Glaucia M. Fragoso and Emlyn J. Davies and Ingrid Ellingsen and Matilde S. Chauton and Trygve Fossum and Martin Ludvigsen and Kristine B. Steinhovden and Kanna Rajan and Geir Johnsen, Physical controls on phytoplankton size structure, photophysiology and suspended particles in a Norwegian biological hotspot, Progress in Oceanography, vol. 175, pp. 284 - 299, 2019 cite url pdf

2018

Ferreira, António Sérgio and Costa, Maria and Py, Frédéric and Pinto, José and Silva, Mónica A. and Nimmo-Smith, Alex and Johansen, Tor Arne and de Sousa, João Borges and Rajan, Kanna, Advancing multi-vehicle deployments in oceanographic field experiments, Autonomous Robots, 2018 cite url

Gunhild Elisabeth Berget and Trygve Olav Fossum and Tor Arne Johansen and Jo Eidsvik and Kanna Rajan, Adaptive Sampling of Ocean Processes Using an AUV with a Gaussian Proxy Model, IFAC-PapersOnLine, vol. 51.29, pp. 238 - 243, 2018 cite url pdf

M. J. Costa and J. Pinto and P. S. Dias and J. Pereira and K. Lima and M. Ribeiro and J. B. Sousa and T. Lukaczyk and R. Mendes and M. P. Tomasino and C. Magalhães and I. Belkin and F. Lopez-Castejon and J. Gilabert and K. Skarpnes and M. Ludvigsen and Kanna Rajan and Z. Mirmalek and A. Chekalyuk, Field Report: Exploring Fronts with Multiple Robots, 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), pp. 1-7, 2018 cite pdf

Fossum, Trygve Olav and Eidsvik, Jo and Ellingsen, Ingrid and Alver, Morten Omholt and Fragoso, Glaucia Moreira and Johnsen, Geir and Mendes, Renato and Ludvigsen, Martin and Rajan, Kanna, Information-driven robotic sampling in the coastal ocean, Journal of Field Robotics, vol. 35.7, pp. 1101-1121, 2018 cite url

2017

Py, Frédéric and Pinto, José and Silva, Mónica A. and Johansen, Tor Arne and Sousa, João and Rajan, Kanna, EUROPtus: A Mixed-Initiative Controller for Multi-vehicle Oceanographic Field Experiments, 2016 International Symposium on Experimental Robotics, pp. 323--340, 2017 cite pdf

Kanna Rajan and Alessandro Saffiotti, Towards a science of integrated AI and Robotics, Artificial Intelligence, vol. 247, pp. 1 - 9, 2017 cite url pdf

2016

K. Rajan and T.A. Johansen and A. S\oresen and R. Birkeland, A Roadmap for a SmallSat Program, whitepaper, 2016 cite pdf

K. Rajan and J. Gilabert and T.A. Johansen and J. Sousa, A Case for Ocean Observing SmallSats, whitepaper, 2016 cite pdf

Maurelli, Francesco and Carreras, Marc and Rajan, Kanna and Lane, David, Guest editorial: special issue on long-term autonomy in marine robotics, Autonomous Robots, vol. 40.7, pp. 1111–1112, 2016 cite pdf

J. B. de Sousa and J. Pereira and J. Pinto and Paulo Claro Lourenfo and João Madaleno Galocha and J. Fontes and M. Silva and K. Rajan and T. A. Johansson and J. Alves and A. Munafò and K. Pelekanakis and R. Petroccia and M. Carreiro Silva and M. Incze, Rapid Environmental Picture Atlantic exercise 2015: A field report, OCEANS 2016 MTS/IEEE Monterey, pp. 1-6, 2016 cite pdf

Smith, Ryan N. and Cooksey, Philip and Py, Frederic and Sukhatme, Gaurav S. and Rajan, Kanna, Adaptive Path Planning for Tracking Ocean Fronts with an Autonomous Underwater Vehicle, Experimental Robotics: The 14th International Symposium on Experimental Robotics, pp. 761--775, 2016 cite url pdf

André G.C. Guerra and Frederico Francisco and Jaime Villate and Fernando Aguado Agelet and Orfeu Bertolami and Kanna Rajan, On small satellites for oceanography: A survey, Acta Astronautica, vol. 127, pp. 404 - 423, 2016 cite url pdf

Sousa, Lara L. and López-Castejón, Francisco and Gilabert, Javier and Relvas, Paulo and Couto, Ana and Queiroz, Nuno and Caldas, Renato and Dias, Paulo Sousa and Dias, Hugo and Faria, Margarida and Ferreira, Filipe and Ferreira, António Sérgio and Fortuna, João and Gomes, Ricardo Joel and Loureiro, Bruno and Martins, Ricardo and Madureira, Luis and Neiva, Jorge and Oliveira, Marina and Pereira, João and Pinto, José and Py, Frederic and Queirós, Hugo and Silva, Daniel and Sujit, P. B. and Zolich, Artur and Johansen, Tor Arne and de Sousa, João Borges and Rajan, Kanna, Integrated Monitoring of Mola mola Behaviour in Space and Time, PLOS ONE, vol. 11.8, pp. 1-24, 2016 cite url pdf

2015

José Pinto and Paulo Dias and João Pereira and Renato Caldas and Tiago Rodrigues and João Sousa and Frederic Py and Kanna Rajan, Mixed-Initiative Interaction for Tracking of Ocean Sunfish, IFAC-PapersOnLine, vol. 48.2, pp. 94 - 99, 2015 cite url pdf

Lukáš Chrpa and Pinto, José and Ribeiro, Manuel A and Py, Frédéric and Sousa, João and Kanna Rajan, On Mixed-Initiative Planning and Control for Autonomous Underwater Vehicles, unpublished, 2015 cite url

Jnaneshwar Das and Frédéric Py and Julio B.J. Harvey and John P. Ryan and Alyssa Gellene and Rishi Graham and David A. Caron and Kanna Rajan and Gaurav S. Sukhatme, Data-driven robotic sampling for marine ecosystem monitoring, The International Journal of Robotics Research, vol. 34.12, pp. 1435-1452, 2015 cite url

2014

R.N. Smith and F. Py and P. Cooksey and G. Sukhatme and K. Rajan, Adaptive Path Planning for Tracking Ocean Fronts with an Autonomous Underwater Vehicle, Intnl. Symp. on Experimental Robotics (ISER), 2014 cite

Das, Jnaneshwar and Py, Frédéric and Maughan, Thom and O'Reilly, Tom and Messié, Monique and Ryan, John and Rajan, Kanna and Sukhatme, Gaurav S., Simultaneous Tracking and Sampling of Dynamic Oceanographic Features with Autonomous Underwater Vehicles and Lagrangian Drifters, Experimental Robotics: The 12th International Symposium on Experimental Robotics, pp. 541--555, 2014 cite url pdf

M. Faria and J. Pinto and F. Py and J. Fortuna and H. Dias and R. Martins and F. Leira and T. A. Johansen and J. Sousa and K. Rajan, Coordinating UAVs and AUVs for oceanographic field experiments: Challenges and lessons learned, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 6606-6611, 2014 cite pdf

Daniele Magazzeni and Frédéric Py and Maria Fox and Derek Long and Kanna Rajan, Policy Learning for Autonomous Feature Tracking, Autonomous Robots, vol. 37.1, pp. 47--69, 2014 cite pdf

J.P. Ryan and M.A. McManus and R.M. Kudela and M. Lara Artigas and J.G. Bellingham and F.P. Chavez and G. Doucette and D. Foley and M. Godin and J.B.J. Harvey and R. Marin and M. Messié and C. Mikulski and T. Pennington and F. Py and K. Rajan and I. Shulman and Z. Wang and Y. Zhang, Boundary influences on HAB phytoplankton ecology in a stratification-enhanced upwelling shadow, Deep Sea Research Part II: Topical Studies in Oceanography, vol. 101, pp. 63 - 79, 2014 cite url pdf

2013

K. Gomes and D. Cline and D. Edgington and M. Godin and T. Maughan and M. McCann and T. O'Reilly and F. Bahr and F. Chavez and M. Messié and J. Das and K. Rajan, ODSS: A decision support system for ocean exploration, 2013 IEEE 29th International Conference on Data Engineering Workshops (ICDEW), pp. 200-211, 2013 cite pdf

J. Das and J. Harvey and F. Py and H. Vathsangam and R. Graham and K. Rajan and G. S. Sukhatme, Hierarchical probabilistic regression for AUV-based adaptive sampling of marine phenomena, 2013 IEEE International Conference on Robotics and Automation, pp. 5571-5578, 2013 cite pdf

M. Bernstein and R. Graham and D. Cline and J. M. Dolan and K. Rajan, Learning-based event response for marine robotics, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3362-3367, 2013 cite pdf

Cooksey, Philip and Py, Frederic and Morris, Paul and Rajan, Kanna, An Issue in Goal Addition in Continuous Robotic Plan Execution, AAAI Workshop - Technical Report, 2013 cite pdf

Rajan, Kanna and Py, Frédéric and Barreiro, Javier, Towards Deliberative Control in Marine Robotics, Marine Robot Autonomy, pp. 91--175, 2013 cite url pdf

2012

J. Das and J. Harvey and F. Py and H. Vathsangam and R. Graham and K. Rajan and G. S. Sukhatme, Multi-stage Bayesian Regression for Adaptive Sampling of Marine Phenomena, Workshop on Environmental Sensing, Robotics Science and Systems, 2012 cite

R. Graham and F. Py and J. Das and D. Lucas and T. Maughan and K. Rajan, Exploring Space-Time Tradeoffs in Autonomous Sampling for Marine Robotics, Intnl. Symp. on Experimental Robotics (ISER), 2012 cite

J. Das and F. Py and T. Maughan and M. Messie and T. O'Reilly and J. Ryan and G. S. Sukhatme and K. Rajan, Coordinated Sampling of Dynamic Oceanographic Features with AUVs and Drifters, Intnl. J. of Robotics Research, vol. 31, pp. 626\-646, 2012 cite

Thom Maughan and Jnaneshwar Das and Mike McCann and Mike Godin and Fred Bahr and Kevin Gomes and Tom O’Reilly and Frederic Py and Monique Messie and John Ryan and Francisco Chavez and Jim Bellingham and Maria Fox and Kanna Rajan, An Oceanographic Decision Support System for Scientific Field Experiments, IEEE Oceans, 2012 cite

A. Garcia-Olaya and F. Py and J. Das and K. Rajan, An Online Utility-Based Approach for Sampling Dynamic Ocean Fields, IEEE Journal of Oceanic Engineering, vol. 37.2, pp. 185-203, 2012 cite pdf

Rajan, Kanna and García-Córdova, Francisco and Guerrero, Antonio and Busquets, Javier and González, Ignacio and Garau, Bartolomé and Olaya, Angel and Borrajo, Daniel and Martins, Ricardo and Gilabert, Javier and Gomáriz Castro, Spartacus and Molino Minero, Erik and Río Fernandez, Joaquín del and Manuel Lázaro, Antonio and Carreras, Marc and Ridau, Pere and Sousa, Joao, An experimental momentum-based front detection method for autonomous underwater vehicles, 2012 IEEE International Conference on Robotics and Automation, pp. 5322-5327, 2012 cite

J. Gottlieb and R. Graham and T. Maughan and F. Py and G. Elkaim and K. Rajan, An experimental momentum-based front detection method for autonomous underwater vehicles, 2012 IEEE International Conference on Robotics and Automation, pp. 5322-5327, 2012 cite pdf

J. González and I. Masmitjà and S. Gomáriza and E. Molino and J. del Río and A. Mànuel and J. Busquets and A. Guerrero and F. López and M. Carreras and D. Ribas and A. Carrera and C. Candela and P. Ridao and J. Sousa and P. Calado and J. Pinto and A. Sousa and R. Martins and D. Borrajo and A. Olaya and B. Garau and I. González and S. Torres and K. Rajan and M. McCann and J. Gilabert, AUV Based Multi-vehicle Collaboration: Salinity Studies in Mar Menor Coastal Lagoon, IFAC Proceedings Volumes, vol. 45.5, pp. 287 - 292, 2012 cite url pdf

Pinto, Jose and Sousa, João and Py, Frédéric and Rajan, Kanna, Experiments with Deliberative Planning on Autonomous Underwater Vehicles, IROS 2012 Workshop on Robotics for Environmental Monitoring, Vilamoura, Portugal, 2012 cite pdf

P. McGillivary and J. Borges de Sousa and R. Martins and K. Rajan and F. Leroy, Integrating autonomous underwater vessels, surface vessels and aircraft as persistent surveillance components of ocean observing studies, 2012 IEEE/OES Autonomous Underwater Vehicles (AUV), pp. 1-5, 2012 cite pdf

J. Gottlieb and R. Graham and T. Maughan and F. Py and G. Elkaim and K. Rajan, An Experimental Momentum-based Front Detection for Autonomous Underwater Vehicles, IEEE International Conference on Robotics and Automation (ICRA), 2012 cite

Jnaneshwar Das and Frédéric Py and Thom Maughan and Tom O’Reilly and Monique Messié and John Ryan and Gaurav S Sukhatme and Kanna Rajan, Coordinated sampling of dynamic oceanographic features with underwater vehicles and drifters, The International Journal of Robotics Research, vol. 31.5, pp. 626-646, 2012 cite url

Kanna Rajan and Frederic Py, T-REX: partitioned inference for AUV mission control, Further Advances in Unmanned Marine Vehicles, pp. 171-199, 2012 cite url pdf

2011

J. Das and F. Py and T. Maughan and M. Messie and T. O'Reilly and J. Ryan and G. S. Sukhatme and K. Rajan, Coordinated Sampling of Dynamic Oceanographic Features with AUVs and Drifters, Proc. IROS Workshop on Robotics for Environmental Monitoring (WREM2011), 2011 cite

Yin, Zhengyu and Kanna Rajan and Tambe, Milind, Solving Continuous-Time Transition-Independent DEC-MDP with Temporal Constraints, AAMAS Workshop on Multiagent Sequential Decision Making in Uncertain Domains (MSDM), 2011 cite pdf

Ceballos, Antonio and Bensalem, Saddek and Cesta, Amedeo and De Silva, Lavindra and Fratini, Simone and Ingrand, Felix and Ocòn, Jorge and Orlandini, Andrea and Py, Frederic and Rajan, Kanna and Rasconi, Riccardo and Van Winnendael, Michel, Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned, 11th Symposium on Advanced Space Technologies in Robotics and Automation. Proceedings (ASTRA 2011), pp. 1A_1–8, 2011 cite

Sandeep Kumar and Sergio Jiménez Celorrio and Frederic Py and Deepak Khemani and Kanna Rajan, Optimizing Hidden Markov Models for Ocean Feature Detection, Proceedings of the Twenty-Fourth International Florida Artificial Intelligence Research Society Conference, May 18-20, 2011, Palm Beach, Florida, USA, 2011 cite url

J. Das and T. Maughan and M. McCann and M. Godin and T. O'Reilly and M. Messié and F. Bahr and K. Gomes and F. Py and J. G. Bellingham and G. S. Sukhatme and K. Rajan, Towards mixed-initiative, multi-robot field experiments: Design, deployment, and lessons learned, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3132-3139, 2011 cite pdf

2010

T.G. Maughan and K. Rajan and J. G. Bellingham and M. McCann and D. Cline and K. Gomes and T. O'Reilly and D. Edgington and J. Das and F. Chavez, Oceanographic Decision Support System, A Tool to Improve Efficiency Of Biological Ocean Study, ASLO, Ocean Sciences, 2010 cite

Z. Saigol and F. Py and K. Rajan and C. McGann and J. Wyatt and R. Dearden, Randomized Testing for Robotic Plan Execution for Autonomous Systems, IEEE Autonomous Underwater Vehicles 2010 (AUV 2010), 2010 cite

F. Py and K. Rajan and C. McGann, A Systematic Agent Framework for Situated Autonomous Systems, 9th International Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2010 cite

Z. Saigol and F. Py and K. Rajan and C. McGann and J. Wyatt and R. Dearden, Randomized testing for Robotic plan execution for autonomous systems, 2010 IEEE/OES Autonomous Underwater Vehicles, pp. 1-9, 2010 cite pdf

J. Das and K. Rajan and S. Frolovy and F. Pyy and J. Ryany and D. A. Caronz and G. S. Sukhatme, Towards marine bloom trajectory prediction for AUV mission planning, 2010 IEEE International Conference on Robotics and Automation, pp. 4784-4790, 2010 cite pdf

Py, Frédéric and Rajan, Kanna and McGann, Conor, A Systematic Agent Framework for Situated Autonomous Systems, Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: Volume 2 - Volume 2, pp. 583–590, 2010 cite

Ryan, J. P. and Johnson, S. B. and Sherman, A. and Rajan, K. and Py, F. and Thomas, H. and Harvey, J. B. J. and Bird, L. and Paduan, J. D. and Vrijenhoek, R. C., Mobile autonomous process sampling within coastal ocean observing systems, Limnology and Oceanography: Methods, vol. 8.8, pp. 394-402, 2010 cite url

2009

C. McGann and F. Py and K. Rajan and A. Olaya, Integrated Planning and Execution for Robotic Exploration, Intnl. Workshop on Hybrid Control of Autonomous Systems, in IJCAI'09, 2009 cite

2008

C. McGann and F. Py and K. Rajan and J. P. Ryan and H. Thomas and R. Henthorn and R. McEwen, Preliminary Results for Model-Based Adaptive Control of an Autonomous Underwater Vehicle, Intnl. Symp. on Experimental Robotics (ISER), 2008 cite

C. McGann and F. Py and K. Rajan, On Efficient Deliberation and Execution, Submitted to ICAPS, Intnl. Conf. on Automated Planning and Scheduling, 2008 cite

C. McGann and F. Py and K. Rajan and J. P. Ryan and R. Henthorn, Adaptive Control for Autonomous Underwater Vehicles, AAAI, 2008 cite

C. McGann and F. Py and K. Rajan and H. Thomas and R. Henthorn and R. McEwen, A Deliberative Architecture for AUV Control, IEEE International Conference on Robotics and Automation (ICRA), 2008 cite

2007

C. McGann and F. Py and K. Rajan and H. Thomas and R. Henthorn and R. McEwen, T-REX: A Deliberative System for AUV Control, 3rd Workshop on Planning and Plan Execution for Real-World Systems, ICAPS, 2007 cite

2006

M.A. Godin, J. G. Bellingham, K. Rajan, Y. Chao, and N. Leonard, A Collaborative Portal for Ocean Observatory Control, Proc Oceans MTS/IEEE Conference, 2006 cite

2005

J. Bresina and A. Jonsson and P. Morris and K. Rajan, Mixed-Initiative Planning in MAPGEN: Capabilities and Shortcomings, Proceedings of the workshop on Mixed-Initiative Planning and Scheduling, ICAPS, 2005 cite

J. Bresina and A.K. Jonsson and P.H. Morris and K. Rajan, Activity Planning for the Mars Exploration Rovers, International Conference on Automated Planning and Scheduling (ICAPS), 2005 cite

2004

M. Ai-Chang and J. Bresina and L. Charest and A. Chase and J.C. Hsu and A. Jonsson and B. Kanefsky and P. Morris and K. Rajan and J. Yglesias and B.G. Chafin and W.C. Dias and P.F. Maldague, MAPGEN: Mixed Initiative Planning and Scheduling for the Mars'03 MER Mission, IEEE Intelligent Systems, vol. 19.1, 2004 cite

2003

J. Bresina and A. Jonsson and P. Morris and K. Rajan, Constraint Maintenance with Preferences and Underlying Flexible Solution, Proceedings of Online Constraint Solving: Handling Change and Uncertainty CP2003 workshop, 2003 cite

2000

D. Bernard and G. Dorais and E. Gamble and B. Kanefsky and J. Kurien and W. Millar and N. Muscettola and P.P. Nayak and K. Rajan and N. Rouquette and B. Smith and W. Taylor and Y. Tung, Remote Agent Experiment: Final Report, whitepaper, 2000 cite

K. Rajan and D. Bernard and G. Dorais and E. Gamble and B. Kanefsky and J. Kurien and W. Millar and N. Muscettola and P.P. Nayak and N. Rouquette and B. Smith and W. Taylor and Y. Tung, Remote Agent: An Autonomous Control System for the New Millennium, Proceedings Prestigious Applications of Intelligent Systems, European Conf. on AI, 2000 cite

A.K. Jónsson and P. Morris and N. Muscettola and K. Rajan and B. Smith, Planning in Interplanetary Space: Theory and Practice, Artificial Intelligence Planning and Scheduling (AIPS), 2000 cite pdf

1998

D. E. Bernard and G. A. Dorais and C. Fry and E.B. Gamble Jr. and B. Kanfesky and J. Kurien and B. Millar and N. Muscettola and P.P. Nayak and B. Pell and K. Rajan and N. Rouquette and B. Smith and B.C. Williams, Design of the Remote Agent experiment for spacecraft autonomy, Proceedings of the IEEE Aerospace Conf., 1998 cite

1997

Smith, Benjamin D and Rajan, Kanna and Muscettola, Nicola, Knowledge acquisition for the onboard planner of an autonomous spacecraft, Knowledge Acquisition, Modeling and Management, pp. 253--268, 1997 cite