Research Highlights

Spatial Reasoning

• B. J. Kuipers. 1978. Modeling spatial knowledge.
  Cognitive Science 2: 129-153, 1978.

• B. J. Kuipers & Y.-T. Byun. 1991. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations.
  Robotics and Autonomous Systems, 8: 47-63, 1991.

• D. Pierce and B. Kuipers. 1997.
  Map learning with uninterpreted sensors and effectors.
  Artificial Intelligence 92: 169-229, 1997.

• B. Kuipers. 2000. The Spatial Semantic Hierarchy.
  Artificial Intelligence 119: 191-233.

• B. Kuipers, J. Modayil, P. Beeson, M. MacMahon, and F. Savelli. 2004.
  Local metrical and global topological maps in the hybrid Spatial Semantic Hierarchy.
  IEEE International Conference on Robotics and Automation (ICRA-04).

• J. Modayil, P. Beeson and B. Kuipers. 2004.
  Using the topological skeleton for scalable global metrical map-building.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04).

• B. Kuipers. 2008.
  An intellectual history of the Spatial Semantic Hierarchy.
  In M. Jefferies and A. (W.-K.) Yeap (Eds.),
  Robot and Cognitive Approaches to Spatial Mapping.
  Springer Verlag, 2008.

• Benjamin Kuipers. 2008.
  Drinking from the firehose of experience.
  Artificial Intelligence in Medicine 44: 155-170, 2008.

• Patrick Beeson, Joseph Modayil, Benjamin Kuipers. 2010.
  Factoring the mapping problem: Mobile robot map-building in the Hybrid Spatial Semantic Hierarchy
  International Journal of Robotics Research 29(4): 428-459, 2010.

Qualitative Reasoning

• B. J. Kuipers and J. P. Kassirer. 1984.
  Causal reasoning in medicine: analysis of a protocol.
  Cognitive Science 8: 363-385, 1984.

• B. J. Kuipers. 1984.
  Commonsense reasoning about causality: deriving behavior from structure.
  Artificial Intelligence 24: 169-203, 1984.

• B. J. Kuipers. 1986. Qualitative simulation.
  Artificial Intelligence 29: 289-338, 1986.

• D. Dvorak & B. J. Kuipers. 1989.
  Model-based monitoring of dynamic systems.
  International Joint Conference on Artificial Intelligence (IJCAI-89).

• J. M. Crawford, A. Farquhar and B. J. Kuipers. 1990.
  QPC: a compiler from physical models into qualitative differential equations.
  National Conference on Artificial Intelligence (AAAI-90),

• B. J. Kuipers. 1994.
  Qualitative Reasoning: Modeling and Simulation with Incomplete Knowledge.
  Cambridge, MA: MIT Press.

• B. J. Kuipers and K. Astrom. 1994.
  The composition and validation of heterogeneous control laws.
  Automatica 30(2): 233-249, 1994.

• B. Shults and B. Kuipers. 1997. Proving properties of continuous systems: qualitative simulation and temporal logic.
  Artificial Intelligence 92: 91-129, 1997.

• B. Kuipers. 2001. Qualitative simulation.
  In R. A. Meyers (Ed.), Encyclopedia of Physical Science and Technology, Third Edition, NY: Academic Press.