Publications

2022

1. M. Cobos Maestre, M. Flores-Soriano, and D. F. Barrero, “Stability of loss functions for solar wind forecasting using Deep Learning,” in 2nd Machine Learning in Heliophysics, Boulder, CO, USA, 2022. Publisher. Abstract. BibTeX.

   @inproceedings{Cobos2022,
     author = {Cobos Maestre, Mario and Flores-Soriano, Manuel and Barrero, David F.},
     title = {Stability of loss functions for solar wind forecasting using Deep Learning},
     booktitle = {2nd Machine Learning in Heliophysics},
     month = mar,
     year = {2022},
     address = {Boulder, CO, USA},
     location = {Boulder, CO, USA},
     url = {https://ml-helio.github.io/Posters/Maestre.pdf}
   }
   

   Loss functions play an essential role in Machine Learning. They guide the fitting process and ultimately define, along with the training data andtechnique, the weights of connections in the resulting model. The most used loss functions, Mean Squared Error (MSE) and Mean Absolute Error (MAE), assume data to present a normal distribution.Solar wind data, however, presents a bi-normal distribution due to the existence of a fast and a slow solar wind component. As a result, these functions consider outliers to be prevalent in most possible solar wind datasets. We present a brief comparison of the robustness of both loss functions, both theoretically and empirically, in the context of solar wind forecasting. Furthermore, we attempt to determine the best choice for the specific conditions encountered in our ongoing research into this problem.

2. M. B. Rasheed and M. D. R-Moreno, “Minimizing pricing policies based on user load profiles and residential demand responses in smart grids,” in Applied Energy, 2022, vol. 310, p. 118492. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Babar2022,
     title = {Minimizing pricing policies based on user load profiles and residential demand responses in smart grids},
     journal = {Applied Energy},
     volume = {310},
     pages = {118492},
     year = {2022},
     issn = {0306-2619},
     doi = {https://doi.org/10.1016/j.apenergy.2021.118492},
     url = {https://www.sciencedirect.com/science/article/pii/S0306261921017104},
     author = {Rasheed, Muhammad Babar and R-Moreno, María D.},
     keywords = {Smart grid communication, Optimization, Energy management, Customized tariff, Supply side, Genetic Algorithm}
   }
   

   This paper considers the time of use (TOU) pricing scheme to propose a consumer aware pricing policy (CAPP), where each customer receives a separate electricity pricing signal. These pricing signals are obtained based on individualized load demand patterns to optimally manage the flexible load demand. The main objective of CAPP is to reduce the peaks in overall system demand in such a way that the pricing signals remain non-discriminatory. To achieve this goal, firstly the mathematical model of CAPP comprising TOU electricity price, and its variation based on consumption patterns is formulated. Secondly, the proposed CAPP model is further extended by integrating renewable energy and storage sources to overcome the possible creation of rebound peaks due to scheduling. This objective is achieved by implementing a control variable modeling the upper bound of the low tariff area. Thirdly, the cost minimization optimization problem is solved by using a Genetic Algorithm (GA) with the objective of the fair price distribution. Numerical and simulation results are obtained to validate the proposed model in terms of convergence, optimality, and cost reduction objective function. Results reveal that each customer receives a separate electricity price signal based on his demand pattern without affecting the utility/retailer revenue. Furthermore, the total cost results are also compared with and without TOU & CAPP schemes to further validate the nondiscrimination in electricity price.

2021

1. M. B. Rasheed and M. D. R-Moreno, “The Energy-Water-Food Nexus Architecture for the Optimal Resource Allocation,” in 2021 IEEE PES Innovative Smart Grid Technologies Europe (ISGT Europe), 2021, pp. 1–5. Publisher. DOI. BibTeX.

   @inproceedings{Babar2021,
     author = {Rasheed, Muhammad Babar and R-Moreno, Maria D.},
     booktitle = {2021 IEEE PES Innovative Smart Grid Technologies Europe (ISGT Europe)},
     title = {The Energy-Water-Food Nexus Architecture for the Optimal Resource Allocation},
     year = {2021},
     volume = {},
     number = {},
     pages = {1-5},
     doi = {10.1109/ISGTEurope52324.2021.9639906},
     url = {https://ieeexplore.ieee.org/document/9639906}
   }
   

2. H. Álvarez-Chaves, D. F. Barrero, H. H. Martínez, and M. I. P. Benito, “An Analysis of the Time Aggregation Influence on Patients Forecasting in Emergency Services,” in 2021 XLVII Latin American Computing Conference (CLEI), 2021, pp. 1–10. DOI. BibTeX.

   @inproceedings{Alvarez-Chaves2021b,
     author = {Álvarez-Chaves, Hugo and Barrero, David F. and Martínez, Helena Hernández and Benito, M. Isabel Pascual},
     booktitle = {2021 XLVII Latin American Computing Conference (CLEI)},
     title = {An Analysis of the Time Aggregation Influence on Patients Forecasting in Emergency Services},
     year = {2021},
     volume = {},
     number = {},
     pages = {1-10},
     doi = {10.1109/CLEI53233.2021.9640117}
   }
   

3. H. Álvarez-Chaves, D. F. Barrero, M. Cobos, and M. D. R-Moreno, “Patients Forecasting in Emergency Services by Using Machine Learning and Exogenous Variables,” in Artificial Intelligence XXXVIII, Cham, 2021, pp. 167–180. Publisher. Abstract. BibTeX.

   @inproceedings{Alvarez-Chaves2021,
     author = {{\'A}lvarez-Chaves, Hugo and Barrero, David F. and Cobos, Mario and R-Moreno, Maria D.},
     editor = {Bramer, Max and Ellis, Richard},
     title = {Patients Forecasting in Emergency Services by Using Machine Learning and Exogenous Variables},
     booktitle = {Artificial Intelligence XXXVIII},
     year = {2021},
     publisher = {Springer International Publishing},
     address = {Cham},
     pages = {167--180},
     isbn = {978-3-030-91100-3},
     url = {https://link.springer.com/chapter/10.1007%2F978-3-030-91100-3_15}
   }
   

   Emergency Departments (ED) in hospitals around the world are a critical service in medical care of patients. Being able to predict the number of patients every day, week or month could be of great help to the healthcare system, and especially in the current situation.

4. C. J. Hernández-Castro, D. F. Barrero, and M. D. R-Moreno, “BASECASS: A methodology for CAPTCHAs security assurance,” Journal of Information Security and Applications, vol. 63, p. 103018, 2021. Publisher. DOI. Abstract. BibTeX.

   @article{HernandezCastro2021,
     title = {BASECASS: A methodology for CAPTCHAs security assurance},
     journal = {Journal of Information Security and Applications},
     volume = {63},
     pages = {103018},
     year = {2021},
     issn = {2214-2126},
     doi = {https://doi.org/10.1016/j.jisa.2021.103018},
     url = {https://www.sciencedirect.com/science/article/pii/S2214212621001927},
     author = {Hernández-Castro, Carlos Javier and Barrero, David F. and R-Moreno, Maria D.},
     keywords = {CAPTCHA, Methodology, Machine Learning, Statistical analysis, Security assurance}
   }
   

   Today, much of the interaction between clients and providers has moved to the Internet. Some tricksters have also learned to benefit from this new situation. New improved cons, tricks and deceptions can be found on-line. Many of these deceptions are only profitable if they are done at a large scale. In order to achieve these large numbers of interactions, these attacks require automation. CAPTCHAs/HIPs are a relatively new security mechanism against automated attacks. They try to detect when the other end of the interaction is a human or a computer program (a bot). However, CAPTCHA/HIP design is still in its initial conception as the stream of successful attacks highlight it. This paper focuses on the design of CAPTCHAs and if there is a way in which to assess a basic level of security for new CAPTCHA designs. To do so, we first review main attacks to different types of CAPTCHAs and then, we describe BASECASS, a methodology that can help in avoiding some of these design pitfalls. The application of the methodology is exemplified in three attacks to CAPTCHAs and how following the methodology designers could have avoided them.

5. D. F. Barrero, O. Fontenla-Romero, F. Lamas-López, D. Novoa-Paradela, M. D. R-Moreno, and D. Sanz, “SOPRENE: Assessment of the Spanish Armada’s Predictive Maintenance Tool for Naval Assets,” Applied Sciences, vol. 11, no. 16, 2021. Publisher. DOI. Abstract. BibTeX.

   @article{Barrero2021,
     author = {Barrero, David F. and Fontenla-Romero, Oscar and Lamas-López, Francisco and Novoa-Paradela, David and R-Moreno, María D. and Sanz, David},
     title = {SOPRENE: Assessment of the Spanish Armada’s Predictive Maintenance Tool for Naval Assets},
     journal = {Applied Sciences},
     volume = {11},
     year = {2021},
     number = {16},
     article-number = {7322},
     url = {https://www.mdpi.com/2076-3417/11/16/7322},
     issn = {2076-3417},
     webpdf = {https://www.mdpi.com/2076-3417/11/16/7322/pdf},
     doi = {10.3390/app11167322}
   }
   

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   Predictive maintenance has lately proved to be a useful tool for optimizing costs, performance and systems availability. Furthermore, the greater and more complex the system, the higher the benefit but also the less applied: Architectural, computational and complexity limitations have historically ballasted the adoption of predictive maintenance on the biggest systems. This has been especially true in military systems where the security and criticality of the operations do not accept uncertainty. This paper describes the work conducted in addressing these challenges, aiming to evaluate its applicability in a real scenario: It presents a specific design and development for an actual big and diverse ecosystem of equipment, proposing an semi-unsupervised predictive maintenance system. In addition, it depicts the solution deployment, test and technological adoption of real-world military operative environments and validates the applicability.

6. J. Aguilar, A. Garcés-Jiménez, M. D. R-Moreno, and R. García, “A systematic literature review on the use of artificial intelligence in energy self-management in smart buildings,” Renewable and Sustainable Energy Reviews, vol. 151, p. 111530, 2021. Publisher. DOI. Abstract. BibTeX.

   @article{Aguilar2021-b,
     title = {A systematic literature review on the use of artificial intelligence in energy self-management in smart buildings},
     journal = {Renewable and Sustainable Energy Reviews},
     volume = {151},
     pages = {111530},
     year = {2021},
     issn = {1364-0321},
     doi = {https://doi.org/10.1016/j.rser.2021.111530},
     url = {https://www.sciencedirect.com/science/article/pii/S136403212100808X},
     author = {Aguilar, J. and Garcés-Jiménez, A. and R-Moreno, M.D. and García, Rodrigo},
     keywords = {Energy management system, Autonomous management architecture, Smart building, Artificial intelligence, Systematic literature review, Smart grid}
   }
   

   Buildings are one of the main consumers of energy in cities, which is why a lot of research has been generated around this problem. Especially, the buildings energy management systems must improve in the next years. Artificial intelligence techniques are playing and will play a fundamental role in these improvements. This work presents a systematic review of the literature on researches that have been done in recent years to improve energy management systems for smart building using artificial intelligence techniques. An originality of the work is that they are grouped according to the concept of “Autonomous Cycles of Data Analysis Tasks”, which defines that an autonomous management system requires specialized tasks, such as monitoring, analysis, and decision-making tasks for reaching objectives in the environment, like improve the energy efficiency. This organization of the work allows us to establish not only the positioning of the researches, but also, the visualization of the current challenges and opportunities in each domain. We have identified that many types of researches are in the domain of decision-making (a large majority on optimization and control tasks), and defined potential projects related to the development of autonomous cycles of data analysis tasks, feature engineering, or multi-agent systems, among others.

7. J. Aguilar, A. Garcés-Jiménez, J. M. Gómez-Pulido, M. D. R-Moreno, J. A. G. De Mesa, and N. Gallego-Salvador, “Autonomic Management of a Building’s Multi-HVAC System Start-Up,” IEEE Access, vol. 9, pp. 70502–70515, 2021. Publisher. DOI. Abstract. BibTeX.

   @article{Aguilar2021-a,
     author = {Aguilar, Jose and Garcés-Jiménez, Alberto and Gómez-Pulido, Jose Manuel and R-Moreno, Maria D. and De Mesa, José Antonio Gutiérrez and Gallego-Salvador, Nuria},
     journal = {IEEE Access},
     title = {Autonomic Management of a Building’s Multi-HVAC System Start-Up},
     year = {2021},
     volume = {9},
     number = {},
     pages = {70502-70515},
     doi = {10.1109/ACCESS.2021.3078550},
     url = {https://ieeexplore.ieee.org/document/9426915}
   }
   

   Most studies about the control, automation, optimization and supervision of building HVAC systems concentrate on the steady-state regime, i.e., when the equipment is already working at its setpoints. The originality of the current work consists of proposing the optimization of building multi-HVAC systems from start-up until they reach the setpoint, making the transition to steady state-based strategies smooth. The proposed approach works on the transient regime of multi-HVAC systems optimizing contradictory objectives, such as the desired comfort and energy costs, based on the “Autonomic Cycle of Data Analysis Tasks” concept. In this case, the autonomic cycle is composed of two data analysis tasks: one for determining if the system is going towards the defined operational setpoint, and if that is not the case, another task for reconfiguring the operational mode of the multi-HVAC system to redirect it. The first task uses machine learning techniques to build detection and prediction models, and the second task defines a reconfiguration model using multiobjective evolutionary algorithms. This proposal is proven in a real case study that characterizes a particular multi-HVAC system and its operational setpoints. The performance obtained from the experiments in diverse situations is impressive since there is a high level of conformity for the multi-HVAC system to reach the setpoint and deliver the operation to the steady-state smoothly, avoiding overshooting and other non-desirable transitional effects.

8. D. Vaquerizo-Hdez, P. Muñoz, D. F. Barrero, and M. D. R-Moreno, “Continuous energy consumption measure approach using a DMA double-buffering technique,” EURASIP Journal on Wireless Communications and Networking, no. 1, p. 172, 2021. Publisher. DOI. Abstract. BibTeX.

   @article{Vaquerizo-Hdez2021,
     author = {Vaquerizo-Hdez, Daniel and Mu{\~{n}}oz, Pablo and Barrero, David F. and R-Moreno, Maria D.},
     title = {Continuous energy consumption measure approach using a DMA double-buffering technique},
     journal = {EURASIP Journal on Wireless Communications and Networking},
     year = {2021},
     number = {1},
     pages = {172},
     issn = {1687-1499},
     doi = {10.1186/s13638-021-02043-w},
     url = {https://jwcn-eurasipjournals.springeropen.com/articles/10.1186/s13638-021-02043-w},
     webpdf = {https://jwcn-eurasipjournals.springeropen.com/track/pdf/10.1186/s13638-021-02043-w.pdf}
   }
   

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   Measuring the consumption of electronic devices is a difficult and sensitive task. Data acquisition (DAQ) systems are often used to determine such consumption. In theory, measuring energy consumption is straight forward, just by acquiring current and voltage signals we can determine the consumption. However, a number of issues arise when a fine analysis is required. The main problem is that sampling frequencies have to be high enough to detect variations in the assessed signals over time. In that regard, some popular DAQ systems are based on RISC ARM processors for microcontrollers combined with analog-to-digital converters to meet high-frequency acquisition requirements. The efficient use of direct memory access (DMA) modules combined with pipelined processing in a microcontroller allows to improve the sample rate overcoming the processing time and the internal communication protocol limitations. This paper presents a novel approach for high-frequency energy measurement composed of a DMA rate improvement (data acquisition logic), a data processing logic and a low-cost hardware. The contribution of the paper is the combination of a double-buffered signal acquisition mechanism and an algorithm that computes the device’s energy consumption using parallel data processing. The combination of these elements enables a high-frequency (continuous) energy consumption measurement of an electronic device, improving the accuracy and reducing the cost of existing systems. We have validated our approach by measuring the energy consumed by elemental circuits and wireless sensors networks (WSNs) motes. The results indicate that the energy measurement error is less than 5% and that the proposed method is suitable to measure WSN motes even during sleep cycles, enabling a better characterization of their consumption profile.

9. A. Collado-Villaverde, P. Muñoz, and C. Cid, “Deep Neural Networks With Convolutional and LSTM Layers for SYM-H and ASY-H Forecasting,” Space Weather, Apr. 2021. Publisher. DOI. Abstract. BibTeX.

   @article{ColladoVillaverde2021,
     doi = {10.1029/2021sw002748},
     url = {https://doi.org/10.1029/2021sw002748},
     year = {2021},
     month = apr,
     publisher = {American Geophysical Union ({AGU})},
     author = {Collado-Villaverde, Armando and Mu{\~{n}}oz, Pablo and Cid, Consuelo},
     title = {Deep Neural Networks With Convolutional and {LSTM} Layers for {SYM}-H and {ASY}-H Forecasting},
     journal = {Space Weather},
     webpdf = {https://agupubs.onlinelibrary.wiley.com/doi/epdf/10.1029/2021SW002748}
   }
   

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   Geomagnetic indices quantify the disturbance caused by the solar activity on a planetary scale or in particular regions of the Earth. Among them, the SYM-H and ASY-H indices represent the (longitudinally) symmetric and asymmetric geomagnetic disturbance of the horizontal component of the magnetic field at midlatitude with a 1-min resolution. Their resolution, along with their relation to the solar wind parameters, makes the forecasting of the geomagnetic indices a problem that can be addressed through the use of Deep Learning, particularly using Deep Neural Networks (DNNs). In this work, we present two DNNs developed to forecast respectively the SYM-H and ASY-H indices. Both networks have been trained using the Interplanetary Magnetic Field (IMF) and the related index for the solar storms occurred in the last two solar cycles. As a result, the networks are able to accurately forecast the indices 2 h in advance, considering the IMF and indices values for the previous 200 min. The evaluation of both networks reveals a great forecasting precision, including good predictions for large storms that occurred during the solar cycle 23 and comparing with the persistence model for the period 2013–2020.

2020

1. A. Collado-Villaverde, M. Cobos, P. Muñoz, and D. F. Barrero, “A Simulator to Support Machine Learning-Based Wearable Fall Detection Systems,” Electronics, vol. 9, no. 11, p. 1831, Nov. 2020. Publisher. DOI. BibTeX.

   @article{Collado2020-b,
     doi = {10.3390/electronics9111831},
     url = {https://doi.org/10.3390/electronics9111831},
     year = {2020},
     month = nov,
     publisher = {{MDPI} {AG}},
     volume = {9},
     number = {11},
     pages = {1831},
     author = {Collado-Villaverde, Armando and Cobos, Mario and Mu{\~{n}}oz, Pablo and Barrero, David F.},
     title = {A Simulator to Support Machine Learning-Based Wearable Fall Detection Systems},
     journal = {Electronics},
     dataset = {https://github.com/ISG-UAH/ISG_FallSimulator},
     webpdf = {https://www.mdpi.com/2079-9292/9/11/1831/pdf}
   }
   

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   → Dataset
   
2. A. Collado-Villaverde, M. Cobos, P. Munoz, and M. D. R-Moreno, “Fall simulator for supporting supervised Machine Learning techniques in wearable devices,” in 2020 International Conference on INnovations in Intelligent SysTems and Applications (INISTA), 2020. Publisher. DOI. BibTeX.

   @inproceedings{Collado2020,
     doi = {10.1109/inista49547.2020.9194628},
     url = {https://doi.org/10.1109/inista49547.2020.9194628},
     year = {2020},
     month = aug,
     publisher = {{IEEE}},
     author = {Collado-Villaverde, Armando and Cobos, Mario and Munoz, Pablo and R-Moreno, Maria D.},
     title = {Fall simulator for supporting supervised Machine Learning techniques in wearable devices},
     booktitle = {2020 International Conference on {INnovations} in Intelligent {SysTems} and Applications ({INISTA})},
     dataset = {https://github.com/ISG-UAH/ISG_FallSimulator},
     webpdf = {/assets/pdfs/inista2020.pdf},
     slides = {/assets/pdfs/inista2020-presentation.pdf}
   }
   

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   → Dataset
   → Slides
   
3. M. Cobos, M. D. R-Moreno, and D. F. Barrero, “R2P2: Un simulador robótico para la enseñanza de Inteligencia Artificial,” in XXVI Jornadas sobre la Enseñanza Universitaria de la Informática (JENUI), 2020, vol. 5, pp. 285–292. BibTeX.

   @inproceedings{Cobos2020,
     author = {Cobos, Mario and R-Moreno, Mar\'ia D. and Barrero, David F.},
     title = {{R2P2}: Un simulador rob\'otico para la ense{\~n}anza de {I}nteligencia {A}rtificial},
     booktitle = {XXVI Jornadas sobre la Ense{\~n}anza Universitaria de la Inform\'atica ({JENUI})},
     pages = {285-292},
     year = {2020},
     volume = {5},
     webpdf = {/assets/pdfs/jenui2020.pdf}
   }
   

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2019

1. F. Ropero, P. Muñoz, and M. D. R-Moreno, “ARIES: An Autonomous Controller For Multirobot Cooperation,” IEEE Aerospace and Electronic Systems Magazine, vol. 34, pp. 40–55, Mar. 2019. Publisher. DOI. BibTeX.

   @article{Ropero2019b,
     doi = {10.1109/MAES.2019.2905922},
     url = {https://doi.org/10.1109/MAES.2019.2905922},
     title = {{ARIES}: An Autonomous Controller For Multirobot Cooperation},
     year = {2019},
     pages = {40-55},
     volume = {34},
     month = mar,
     author = {Ropero, Fernando and Mu{\~{n}}oz, Pablo and R-Moreno, Maria D.},
     journal = {{IEEE} Aerospace and Electronic Systems Magazine}
   }
   

2. F. Ropero, P. Muñoz, and M. D. R-Moreno, “TERRA: A path planning algorithm for cooperative UGV-UAV exploration,” Engineering Applications of Artificial Intelligence, vol. 78, pp. 260–272, Feb. 2019. DOI. BibTeX.

   @article{Ropero2019c,
     author = {Ropero, Fernando and Muñoz, Pablo and R-Moreno, Maria D.},
     title = {{TERRA: A path planning algorithm for cooperative UGV-UAV exploration}},
     journal = {Engineering Applications of Artificial Intelligence},
     year = {2019},
     volume = {78},
     pages = {260--272},
     month = feb,
     issn = {0952-1976},
     doi = {10.1016/j.engappai.2018.11.008}
   }
   

3. A. Collado-Villaverde, M. Cobos, D. Rodriguez, and H. H. Martínez, “Stability of data complexity measures in k-fold cross validation applied to predict glucose levels,” in 4th Bilbao Data Science Workshop, Bilbao, Spain, 2019, p. 17. Publisher. BibTeX.

   @inproceedings{Collado2019,
     author = {Collado-Villaverde, Armando and Cobos, Mario and Rodriguez, Daniel and Martínez, Helena Hernández},
     title = {Stability of data complexity measures in k-fold cross validation applied to predict glucose levels},
     booktitle = {4th Bilbao Data Science Workshop},
     year = {2019},
     pages = {17},
     address = {Bilbao, Spain},
     month = nov,
     url = {https://wp.bcamath.org/bidas4/posters/},
     poster = {assets/pdfs/bidas-diabetes2019.png}
   }
   

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4. M. Cobos, A. Collado-Villaverde, D. Rodriguez, and D. F. Barrero, “Principal Component Analysis of data complexity measures for breast cancer prediction,” in 4th Bilbao Data Science Workshop, Bilbao, Spain, 2019, p. 16. Publisher. BibTeX.

   @inproceedings{Cobos2019,
     author = {Cobos, Mario and Collado-Villaverde, Armando and Rodriguez, Daniel and Barrero, David F.},
     title = {Principal Component Analysis of data complexity measures for breast cancer prediction},
     booktitle = {4th Bilbao Data Science Workshop},
     year = {2019},
     pages = {16},
     address = {Bilbao, Spain},
     month = nov,
     url = {https://wp.bcamath.org/bidas4/posters/},
     poster = {assets/pdfs/bidas-measures2019.pdf}
   }
   

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5. F. Ropero, D. Vaquerizo-Hdez, P. Muñoz, D. F. Barrero, and M. D. R-Moreno, “LARES: An AI-based teleassistance system for emergency home monitoring,” Cognitive Systems Research, vol. 56, pp. 213–222, 2019. Publisher. DOI. Abstract. BibTeX.

   @article{Ropero2019,
     title = {{LARES: An AI-based teleassistance system for emergency home 
     monitoring}},
     journal = {Cognitive Systems Research},
     volume = {56},
     pages = {213 - 222},
     year = {2019},
     issn = {1389-0417},
     doi = {https://doi.org/10.1016/j.cogsys.2019.03.019},
     url = {http://www.sciencedirect.com/science/article/pii/S1389041718302870},
     author = {Ropero, Fernando and Vaquerizo-Hdez, Daniel and Muñoz, Pablo and Barrero, David F. and R-Moreno, Maria D.},
     keywords = {Autonomous control, Robotics, Elderly monitoring, Wireless 
     Sensor Networks, Emergency detection}
   }
   

   The latest progresses in medicine are helping people live longer and better. An ageing population is a sign of a developed society with an advanced health care system. Improved life expectancy should be welcomed as a major achievement, but it should not cause a financial or social burden. In this scenario, it is critical to support older and handicap adults to continue living independently and retaining their current lifestyle. New technological advances in Wireless Sensors Networks (WSN) and Artificial Intelligence (AI) can facilitate this task. In this direction we present lares, an AI-based system that integrates a (i) WSN for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance. lares has been tried in two dependent elderly home environments during several weeks, and the experiments show that is able to detect anomalies and generate alarms in abnormal situations.

2018

1. P. Muñoz, M. D. R-Moreno, D. F. Barrero, and F. Ropero, “MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture,” Journal of Intelligent & Robotic Systems, Mar. 2018. Publisher. DOI. Abstract. BibTeX.

   @article{Munoz2018,
     author = {Mu{\~{n}}oz, Pablo and R-Moreno, Mar{\'i}a D. and Barrero, David F. and Ropero, Fernando},
     title = {MoBAr: a Hierarchical Action-Oriented Autonomous Control Architecture},
     journal = {Journal of Intelligent {\&} Robotic Systems},
     year = {2018},
     month = mar,
     day = {22},
     issn = {1573-0409},
     doi = {10.1007/s10846-018-0810-z},
     url = {https://doi.org/10.1007/s10846-018-0810-z}
   }
   

   Autonomous control in robotics hold promising solutions for a broad number of applications. However, autonomous controllers require highly expertise on heterogeneous technologies, such as Artificial Intelligence Planning & Scheduling, behaviour modelling, intelligent execution and the hardware to control. Connecting these technologies entails several challenges to properly synchronize and verify the robot behaviours to deal with real scenarios. In this article, we present an autonomous controller based on high level modelling to easily enable adaptation of the controller to different robotics platforms and application domains. This controller, called MoBAr, allows on-board planning and replanning for goal oriented autonomy. It relies on technologies such as PLEXIL to model the execution behaviours, or the action oriented planning language PDDL for the domain definition and the planning process. Based on these technologies MoBAr enables an easier deployment of the autonomous controller for different robotics platforms. Moreover, MoBAr enables researching in planning systems applied to robotics domains, as it is possible to replace the PDDL planner and/or domain used without much effort. This fact is demonstrated in the experimental section, in which we demonstrate the adaptability and effectiveness of the controller in three different scenarios, i.e., a robotic arm, an office surveillance robot and an exploration rover while exploiting different planning systems.

2017

1. F. Ropero, P. Muñoz, M. D. R-Moreno, and D. F. Barrero, “A Virtual Reality Mission Planner for Mars Rovers,” in 2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT), Alcalá de Henares, Spain, 2017, pp. 142–146. DOI. Abstract. BibTeX.

   @inproceedings{Ropero2017,
     author = {Ropero, F. and Muñoz, P. and R-Moreno, M. D. and Barrero, D. F.},
     booktitle = {2017 6th International Conference on Space Mission Challenges for Information Technology (SMC-IT)},
     title = {A Virtual Reality Mission Planner for Mars Rovers},
     year = {2017},
     volume = {},
     number = {},
     location = {Alcalá de Henares, Spain},
     address = {Alcalá de Henares, Spain},
     pages = {142-146},
     keywords = {Mars;aerospace engineering;collision avoidance;control engineering computing;mobile robots;path planning;planetary rovers;virtual reality;Mars rovers;Mars surfaces;Virtual Reality mission planner;Virtual Reality techniques;path planning;safe mission planning;surface imagery;terrain topography;Google;Headphones;Path planning;Planning;Robots;Space vehicles;Three-dimensional displays;AR;VR;path-planning;planning;rover operations},
     doi = {10.1109/SMC-IT.2017.32},
     issn = {},
     month = sep
   }
   

   For the operation of Mars rovers the ground team has a set of utilities to generate safe mission planning. A relevant aspect of such planning are the paths that the rover has to to follow to reach the scientific objectives. For path planning, operators use a combination of orbital and surface imagery to analyze the terrain topography to generate a cost map. Applying path planning algorithms over the cost map it is possible to obtain (sub)optimal solutions to safely drive the rover through different waypoints. As well, the paths obtained can be assessed using simulators and handmade improved by means of Virtual Reality techniques. In this paper we present an integrated planner for the mission planning and its evaluation using the recent technological advances in Virtual Reality. We have developed a low cost application to provide a three-dimensional view of the path generated exploiting real Mars surfaces with the aim of helping operators in deciding the best paths to follow.

2. A. Collado-Villaverde, M. D. R-Moreno, D. F. Barrero, and D. Rodriguez, “Machine Learning Approach to Detect Falls on Elderly People Using Sound,” in 30th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2017), S. Benferhat, K. Tabia, and M. Ali, Eds. Arras, France: Springer, 2017, pp. 149–159. Publisher. DOI. Abstract. BibTeX.

   @inbook{Collado-Villaverde2017,
     author = {Collado-Villaverde, Armando and R-Moreno, Mar{\'i}a D. and Barrero, David F. and Rodriguez, Daniel},
     editor = {Benferhat, Salem and Tabia, Karim and Ali, Moonis},
     title = {Machine Learning Approach to Detect Falls on Elderly People Using Sound},
     booktitle = {30th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2017)},
     year = {2017},
     publisher = {Springer},
     address = {Arras, France},
     pages = {149--159},
     month = jun,
     isbn = {978-3-319-60042-0},
     doi = {10.1007/978-3-319-60042-0_18},
     url = {http://dx.doi.org/10.1007/978-3-319-60042-0_18},
     dataset = {/assets/datasets/ieaaie2017.zip},
     webpdf = {/assets/pdfs/ieaaie2017.pdf}
   }
   

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   → Dataset
   

   One of the most notable consequences of aging is the loss of motor function abilities, making elderly people specially susceptible to falls, which is of the most remarkable concerns in elder care. Thus, several solutions have been proposed to detect falls, however, none of them achieved a great success mainly because of the need of wearing a recording device. In this paper, we study the use of sound to detect fall events. The advantage of this approach over the traditional ones is that the subject does not require to wear additional devices to monitor his or her activities. Here, we apply machine learning techniques to process sound simulated the most common type of fall for the elderly, i.e., when the foot collides with an obstacle and the trunk hits the ground before using his/her hands to absorb the fall. The results show that high levels of accuracy can be achieved using only a few signal processing techniques.

3. F. Ropero, D. Vaquerizo, P. Muñoz, and M. D. R-Moreno, “An Advanced Teleassistance System to Improve Life Quality in the Elderly,” in 30th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2017), S. Benferhat, K. Tabia, and M. Ali, Eds. Arras, France: Springer, 2017, pp. 533–542. Publisher. DOI. Abstract. BibTeX.

   @inbook{Ropero2018,
     author = {Ropero, Fernando and Vaquerizo, Daniel and Mu{\~{n}}oz, Pablo and R-Moreno, Mar{\'i}a D.},
     editor = {Benferhat, Salem and Tabia, Karim and Ali, Moonis},
     title = {An Advanced Teleassistance System to Improve Life Quality in the Elderly},
     booktitle = {30th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2017)},
     year = {2017},
     month = jun,
     publisher = {Springer},
     address = {Arras, France},
     pages = {533--542},
     isbn = {978-3-319-60042-0},
     doi = {10.1007/978-3-319-60042-0_59},
     url = {https://doi.org/10.1007/978-3-319-60042-0_59}
   }
   

   Over the last decades the population in developed countries is becoming increasingly older, while the life expectancy is growing supported on medical advances. In despite of such progress, how to support older adults to continue living independently and retaining their current lifestyle is becoming a social problem. Through the careful placement of technological support, elders can continue living in their own homes longer and thus, maintaining and enhancing their quality of life. In this paper we present an AI-based system that integrates a (i) Wireless Sensor Network for receiving information of the environment and the dependent person, (ii) an autonomous robot able to take decisions based on the received information, and (iii) a Web-based system to provide telecare assistance.

4. Y. E-Martín, M. D. R-Moreno, and D. E. Smith, “Incremental contingency planning for recovering from critical outcomes in high-probability seed plans,” Progress in Artificial Intelligence, vol. 6, no. 4, pp. 299–314, Dec. 2017. Publisher. DOI. Abstract. BibTeX.

   @article{E-Martin2017,
     author = {E-Mart{\'i}n, Yolanda and R-Moreno, Mar{\'i}a D. and Smith, David E.},
     title = {Incremental contingency planning for recovering from critical outcomes in high-probability seed plans},
     journal = {Progress in Artificial Intelligence},
     year = {2017},
     month = dec,
     day = {01},
     volume = {6},
     number = {4},
     pages = {299--314},
     issn = {2192-6360},
     doi = {10.1007/s13748-017-0125-5},
     url = {https://doi.org/10.1007/s13748-017-0125-5}
   }
   

   Planning is the problem of choosing and organizing a sequence of actions that when applied in a given initial state results in a goal state. However, in real problems unexpected action outcomes may occur and the initial state of the world may not be known with certainty. Incremental contingency planning considers potential failures in a plan and attempts to avoid them by incrementally adding contingency branches to the plan in order to improve the overall probability. The planner focuses on high-probability outcomes and attempts to avoid them by incrementally adding contingency branches to the plan in order to improve the overall probability. Some of these high-probability outcomes might be repairable by runtime replanning so we focus on repairing critical outcomes that cannot be fixed by runtime replanning. For this planning to be successful, we also need high-probability seed plans. In this work, we describe approaches to generating high-probability seed plans and to incremental contingency planning on the critical outcomes.

5. D. Vaquerizo-Hernández, P. Muñoz, M. D. R. Moreno, and D. F. Barrero, “A Low Power Consumption Algorithm for Efficient Energy Consumption in ZigBee Motes,” Sensors Special Issue Energy Harvesting Sensors for Long Term Applications in the IoT Era, vol. 17, no. 10, pp. 2179–2201, Oct. 2017. Publisher. BibTeX.

   @article{Vaquerizo2017,
     author = {Vaquerizo-Hernández, Daniel and Muñoz, Pablo and Moreno, María D. Rodríguez and Barrero, David Fernández},
     title = {A Low Power Consumption Algorithm for Efficient Energy Consumption
         in ZigBee Motes},
     journal = {Sensors Special Issue Energy Harvesting Sensors for Long Term Applications in the IoT Era},
     year = {2017},
     volume = {17},
     pages = {2179--2201},
     number = {10},
     month = oct,
     webpdf = {http://www.mdpi.com/1424-8220/17/10/2179/pdf},
     url = {http://www.mdpi.com/1424-8220/17/10/2179}
   }
   

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6. J. Hernandez-Castro and D. F. Barrero, “Evolutionary generation and degeneration of randomness to assess the independence of the Ent test battery,” in 2017 IEEE Congress on Evolutionary Computation (CEC 2017), San Sebastián, Spain, 2017, pp. 1420–1427. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Hernandez-Castro2017cec,
     author = {Hernandez-Castro, Julio and Barrero, David F.},
     booktitle = {2017 IEEE Congress on Evolutionary Computation (CEC 2017)},
     organization = {IEEE Computational Intelligence Society},
     pages = {1420-1427},
     publisher = {},
     series = {},
     title = {Evolutionary generation and degeneration of randomness to assess the independence of the Ent test battery},
     volume = {},
     month = jun,
     location = {San Sebasti\'an, Spain},
     address = {San Sebasti\'an, Spain},
     dataset = {/assets/datasets/cec2017.zip},
     webpdf = {/assets/pdfs/cec2017.pdf},
     slides = {https://www.slideshare.net/DavidFBarrero/evolutionary-generation-and-degeneration-of-randomness-to-assess-the-independence-of-the-ent-test-battery},
     url = {http://ieeexplore.ieee.org/document/7969470/},
     doi = {10.1109/CEC.2017.7969470},
     year = {2017}
   }
   

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   → Dataset
   → Slides
   

   Randomness tests are a key tool to assess the quality of pseudo-random and true random (physical) number generators. They exploit some properties of random numbers to quantify to what extent the observed behavior of the tested sequence approximates the expected one. Given the many sides of randomness, there is not an unique test providing the whole picture, instead a suite of tests assessing different aspects randomness. A robust test suite must include independent tests, otherwise tests would assess the same property, providing redundant information. This paper addresses the independence assessment of a popular test suite named Ent. To this end we generate a large number of pseudo-random numbers with different degrees of randomness by evolving them with a Genetic Algorithm. The numbers are generated to maximize their diversity attending different criteria based on Ent output, used as fitness. We encourage diversity by maximizing and minimizing randomness measures. Once a diverse set of pseudo-random numbers is generated, the Ent test suite is run on them, and their statistics studied by means of a classical correlation analysis. The results show high correlation among some statistics used in the literature, which could be overestimating the quality of their randomness source.

7. C. J. Hernández-Castro, M. D. R-Moreno, D. F. Barrero, and S. Gibson, “Using Machine Learning to identify common flaws in CAPTCHA design: FunCAPTCHA case analysis ,” Computers & Security , vol. 70, pp. 744–756, 2017. Publisher. DOI. Abstract. BibTeX.

   @article{HernandezCastro2017,
     title = {Using Machine Learning to identify common flaws in {CAPTCHA} design: FunCAPTCHA case analysis },
     journal = {Computers \& Security },
     volume = {70},
     number = {},
     pages = {744-756},
     year = {2017},
     issn = {0167-4048},
     doi = {https://doi.org/10.1016/j.cose.2017.05.005},
     url = {http://www.sciencedirect.com/science/article/pii/S0167404817301128},
     author = {Hernández-Castro, Carlos Javier and R-Moreno, María D. and Barrero, David F. and Gibson, Stuart}
   }
   

   Human Interactive Proofs (HIPs or CAPTCHAs) have become a first-level security measure on the Internet to avoid automatic attacks or minimize their effects. All the most widespread, successful or interesting CAPTCHA designs put to scrutiny have been successfully broken. Many of these attacks have been side-channel attacks. New designs are proposed to tackle these security problems while improving the human interface. FunCAPTCHA is the first commercial implementation of a gender classification CAPTCHA, with reported improvements in conversion rates. This article finds weaknesses in the security of FunCAPTCHA and uses simple machine learning (ML) analysis to test them. It shows a side-channel attack that leverages these flaws and successfully solves FunCAPTCHA on 90% of occasions without using meaningful image analysis. This simple yet effective security analysis can be applied with minor modifications to other HIPs proposals, allowing to check whether they leak enough information that would in turn allow for simple side-channel attacks.

8. P. Muñoz, M. D. R-Moreno, and B. Castaño, “3Dana: A Path Planning Algorithm for Surface Robotics,” Engineering Applications of Artificial Intelligence, vol. 60, pp. 175–192, Apr. 2017. Publisher. Abstract. BibTeX.

   @article{Munoz2017,
     author = {Muñoz, Pablo and R-Moreno, Maria D. and Castaño, Bonifacio},
     title = {3Dana: A Path Planning Algorithm for Surface Robotics},
     journal = {Engineering Applications of Artificial Intelligence},
     url = {http://www.sciencedirect.com/science/article/pii/S0952197617300337?via%3Dihub},
     publisher = {Elsevier},
     year = {2017},
     volume = {60},
     pages = {175--192},
     month = apr
   }
   

   Autonomous navigation is a research topic that has received considerable attention in robotics. Generally, it is a two step process: (i) generate a global route to the goal and (ii) local motion of the robot along the route. The focus of this paper is on the first part of the process. Some common techniques used are based on heuristic search algorithms that obtain (sub)optimal paths by usually exploiting a rather simplistic terrain representation. Then, the paths generated hardly take into account relevant terrain features, which leads to potentially unsafe paths in realistic environments. This paper presents two contributions: a mathematical formulation for any DTM that can be used by heuristic search algorithms, and a path planning algorithm that generates candidate paths that are safer than the ones obtained by previous approaches. This algorithm, called 3Dana, considers different parameters to maximize the path quality: the maximum slope allowed by the robot and the heading changes during the path. These constraints allow discarding infeasible paths while minimizing the heading changes. To demonstrate the effectiveness of the algorithm proposed, we present results for different scenarios, which include an evaluation of the algorithm in real Mars DTMs.

9. C. Ramirez-Atencia, M. D. R-Moreno, and D. Camacho, “Handling swarm of UAVs based on evolutionary multi-objective optimization,” Progress in Artificial Intelligence, vol. 6, no. 3, pp. 263–274, Sep. 2017. Publisher. DOI. Abstract. BibTeX.

   @article{Ramirez-Atencia2017a,
     author = {Ramirez-Atencia, Cristian and R-Moreno, Maria D. and Camacho, David},
     title = {Handling swarm of UAVs based on evolutionary multi-objective optimization},
     journal = {Progress in Artificial Intelligence},
     year = {2017},
     month = sep,
     day = {01},
     volume = {6},
     number = {3},
     pages = {263--274},
     issn = {2192-6360},
     doi = {10.1007/s13748-017-0123-7},
     url = {https://link.springer.com/article/10.1007\%2Fs13748-017-0123-7}
   }
   

   The fast technological improvements in unmanned aerial vehicles (UAVs) has created new scenarios where a swarm of UAVs could operate in a distributed way. This swarm of vehicles needs to be controlled from a set of ground control stations, and new reliable mission planning systems, which should be able to handle the large amount of variables and constraints. This paper presents a new approach where this complex problem has been modelled as a constraint satisfaction problem (CSP), and is solved using a multi-objective genetic algorithm (MOGA). The algorithm has been designed to minimize several variables of the mission, such as the fuel consumption or the makespan among others. The designed fitness function, used by the algorithm, takes into consideration, as a weighted penalty function, the number of constraints fulfilled for each solution. Therefore, the MOGA algorithm is able to manage the number of constraints fulfilled by the selected plan, so it is possible to maximize in the elitism phase of the MOGA the quality of the solutions found. This approach allows to alleviate the computational effort carried out by the CSP solver, finding new solutions from the Pareto front, and therefore reducing the execution time to obtain a solution. In order to test the performance of this new approach 16 different mission scenarios have been designed. The experimental results show that the approach outperforms the convergence of the algorithm in terms of number of generations and runtime.

10. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “Solving complex multi-UAV mission planning problems using multi-objective genetic algorithms,” Soft Computing, vol. 21, no. 17, pp. 4883–4900, Sep. 2017. Publisher. DOI. Abstract. BibTeX.

    @article{Ramirez-Atencia2017b,
      author = {Ramirez-Atencia, Cristian and Bello-Orgaz, Gema and R-Moreno, Mar{\'i}a D. and Camacho, David},
      title = {Solving complex multi-UAV mission planning problems using multi-objective genetic algorithms},
      journal = {Soft Computing},
      year = {2017},
      month = sep,
      day = {01},
      volume = {21},
      number = {17},
      pages = {4883--4900},
      issn = {1433-7479},
      doi = {10.1007/s00500-016-2376-7},
      url = {https://link.springer.com/article/10.1007\%2Fs00500-016-2376-7}
    }
    

    Due to recent booming of unmanned air vehicles (UAVs) technologies, these are being used in many fields involving complex tasks. Some of them involve a high risk to the vehicle driver, such as fire monitoring and rescue tasks, which make UAVs excellent for avoiding human risks. Mission planning for UAVs is the process of planning the locations and actions (loading/dropping a load, taking videos/pictures, acquiring information) for the vehicles, typically over a time period. These vehicles are controlled from ground control stations (GCSs) where human operators use rudimentary systems. This paper presents a new multi-objective genetic algorithm for solving complex mission planning problems involving a team of UAVs and a set of GCSs. A hybrid fitness function has been designed using a constraint satisfaction problem to check whether solutions are valid and Pareto-based measures to look for optimal solutions. The algorithm has been tested on several datasets, optimizing different variables of the mission, such as the makespan, the fuel consumption, and distance. Experimental results show that the new algorithm is able to obtain good solutions; however, as the problem becomes more complex, the optimal solutions also become harder to find.

11. D. F. Barrero, M. D. R-Moreno, and D. Camacho, “Improving experimental methods on success rates in evolutionary computation,” Journal of Experimental & Theoretical Artificial Intelligence, vol. 29, no. 4, pp. 695–716, 2017. Publisher. Abstract. BibTeX.

    @article{jetai2016,
      author = {Barrero, David F. and R-Moreno, María D. and Camacho, David},
      title = {Improving experimental methods on success rates in evolutionary computation},
      journal = {Journal of Experimental \& Theoretical Artificial Intelligence},
      volume = {29},
      number = {4},
      pages = {695-716},
      year = {2017},
      url = {http://www.tandfonline.com/doi/abs/10.1080/0952813X.2016.1214186},
      publisher = {Springer-Verlag},
      webpdf = {/assets/pdfs/jetai2016.pdf},
      dataset = {/assets/datasets/jetai2016.zip}
    }
    

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    → Dataset
    

    Due to the complexity of theoretical approaches in evolutionary computation (EC), research has being largely performed on experimental basis. One popular measure used by the EC community is the success rate (SR), which is used alone or as part of more complex measures such as Koza’s computational effort in genetic programming. A common practice in EC is to report just a punctual estimation of the SR, without additional information about its associated uncertainty. We aim to motivate EC researchers to adopt more rigorous practices when working with SRs. In particular, we introduce the importance of correctly reporting this measure and highlight its binomial nature. Unfortunately, this fact is usually overlooked in the literature. Considering the binomiality of the SR opens the whole corpus of binomial statistics to EA research and practice. In particular, we focus on studying several methods to compute SR confidence intervals, the factors that determine their quality in terms of coverage probability and interval length. Due to its practical interest, we also briefly discuss the number of required runs to build confidence intervals with a certain quality, providing a sound method to set the number of runs, one of the most important experimental settings in EC. Evidence suggests that Wilson is, on average, a reliable and simple method to bound an estimation of SR with confidence intervals, while the standard method, which is quite popular because of its conceptual simplicity, should be avoided in any case. However, other methods can also be of interest under certain circumstances. We encourage to report the number of trials and successes, as well as the interval, to ease further comparability of the results.

2016

1. Y. E-Martín, M. D. R-Moreno, and D. E. Smith, “Incremental Contingency Planning for Recovering from Uncertain Outcomes,” in 17th Conference of the Spanish Association for Artificial Intelligence (CAEPIA 2016), O. Luaces, J. A. Gámez, E. Barrenechea, A. Troncoso, M. Galar, H. Quintián, and E. Corchado, Eds. Salamanca, Spain: Springer, 2016, pp. 237–247. Publisher. DOI. Abstract. BibTeX.

   @inbook{E-Martin2016,
     author = {E-Mart{\'i}n, Yolanda and R-Moreno, Mar{\'i}a D. and Smith, David E.},
     editor = {Luaces, Oscar and G{\'a}mez, Jos{\'e} A. and Barrenechea, Edurne and Troncoso, Alicia and Galar, Mikel and Quinti{\'a}n, H{\'e}ctor and Corchado, Emilio},
     title = {Incremental Contingency Planning for Recovering from Uncertain Outcomes},
     booktitle = {17th Conference of the Spanish Association for Artificial Intelligence (CAEPIA 2016)},
     year = {2016},
     publisher = {Springer},
     address = {Salamanca, Spain},
     month = sep,
     pages = {237--247},
     isbn = {978-3-319-44636-3},
     doi = {10.1007/978-3-319-44636-3_22},
     url = {https://doi.org/10.1007/978-3-319-44636-3_22},
     webpdf = {assets/pdfs/caepia2016.pdf}
   }
   

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   Incremental Contingency Planning is a framework that considers all potential failures in a plan and attempts to avoid them by incrementally adding contingency branches to the plan in order to improve the overall probability. The planner focuses its attempts on the higher probability outcomes. Precautionary planning is a form of incremental contingency planning that takes advantage of the speed of replanning for easy contingencies and only considers the unrecoverable outcomes in the plan. In this work, we present an approach to incrementally generating contingency branches to deal with uncertain outcomes. The main idea is to first generate a high probability non-branching seed plan, which is then augmented with contingency branches to handle the most critical outcomes. Any remaining outcomes are handled by runtime replanning.

2. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “MOGAMR: A Multi-Objective Genetic Algorithm for real-time Mission Replanning,” in 2016 IEEE Symposium Series on Computational Intelligence (SSCI), 2016, pp. 1–8. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Ramirez-Atencia2016,
     author = {Ramirez-Atencia, C. and Bello-Orgaz, G. and R-Moreno, M. D. and Camacho, D.},
     booktitle = {2016 IEEE Symposium Series on Computational Intelligence (SSCI)},
     title = {MOGAMR: A Multi-Objective Genetic Algorithm for real-time Mission Replanning},
     year = {2016},
     volume = {},
     number = {},
     pages = {1-8},
     doi = {10.1109/SSCI.2016.7850235},
     webpdf = {https://pdfs.semanticscholar.org/be38/0504ea76637cb1263f93a0fb162b17e2db37.pdf},
     url = {http://ieeexplore.ieee.org/document/7850235/},
     month = dec
   }
   

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   From the last few years the interest and repercussion on Unmanned Aerial Vehicle (UAV) technologies have been extended from pure military applications to industrial and societal applications. One of the basic tasks to any UAV problems is related to the Mission Planning. This problem is particularly complex when a set of UAVs is considered. In the field of Multi-UAV Mission Planning, some approaches have been carried out in the last years. However, there are few works related to real-time Mission Replanning, which is the focus of this work. In Mission Replanning, some changes in the mission, such as the arrival of new tasks, require to update the preplanned solution as fast as possible. In this paper a Multi-Objective Genetic Algorithm for Mission Replanning (MOGAMR) is proposed to handle this problem. This approach uses a set of previous plans (or solutions), generated using an oa liffline planning process, in order to initialize the population of the algorithm, then acts as a complete regeneration method. In order to simulate a real-time system we have fixed a time limit of 2 minutes. This has been considered as an appropriate time for a human operator to take a decision. Using this time restriction, a set of experiments adding from 1 to 5 new tasks in the Replanning Problems has been carried out. The experiments show that the algorithm works well with this few number of new tasks during the replanning process generating a set of feasible solutions under the time restriction considered.

3. P. Muñoz, M. D. R-Moreno, and B. Castaño, “3Dana: Path Planning on 3D surfaces,” in Procs. of the 36th SGAI International Conference on Artificial Intelligence, Cambridge, UK, 2016, pp. 177–191. Publisher. Abstract. BibTeX.

   @inproceedings{Munoz2016a,
     author = {Muñoz, Pablo and R-Moreno, María D. and Castaño, Bonifacio},
     title = {{3Dana}: Path Planning on {3D} surfaces},
     booktitle = {Procs. of the 36th SGAI International Conference on Artificial Intelligence},
     publisher = {Springer},
     url = {https://link.springer.com/chapter/10.1007/978-3-319-47175-4_12},
     webpdf = {/assets/pdfs/sgai2016.pdf},
     year = {2016},
     pages = {177-191},
     address = {Cambridge, UK},
     month = dec
   }
   

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   An important issue when planning the tasks that a mobile robot has to reach is the path that it has to follow. In that sense, classical path planning algorithms focus on minimizing the total distance, generally assuming a flat terrain. Newer approaches also include traversability cost maps to define the terrain characteristics. However, this approach may generate unsafe paths in realistic environments as the terrain relief is lost in the discretisation. In this paper we will focus on the path planning problem when dealing with a Digital Terrain Model (DTM). Over such DTM we have developed 3Dana, an any-angle path planning algorithm. The objective is to obtain candidate paths that may be longer than the ones obtained with classical algorithms, but safer. Also, in 3Dana we can consider other parameters to maximize the path optimality: the maximum slope allowed by the robot and the heading changes during the path. These constraints allow discarding infeasible paths, while minimizing the heading changes of the robot. To demonstrate the effectiveness of the algorithm proposed, we present the results for the paths obtained for real Mars DTMs.

4. P. Muñoz, R-Moreno Marı́a D., and D. F. Barrero, “Unified Framework for Path-planning and Task-planning for Autonomous Robots,” Robotics and Autonomous Systems, vol. 82, no. C, pp. 1–14, Aug. 2016. Publisher. DOI. Abstract. BibTeX.

   @article{Munoz2016,
     author = {Mu\~{n}oz, Pablo and R-Moreno, Mar\'{\i}a D. and Barrero, David F.},
     title = {Unified Framework for Path-planning and Task-planning for Autonomous Robots},
     journal = {Robotics and Autonomous Systems},
     volume = {82},
     number = {C},
     month = aug,
     year = {2016},
     issn = {0921-8890},
     pages = {1--14},
     numpages = {14},
     url = {http://www.sciencedirect.com/science/article/pii/S0921889016302184?via\%3Dihub},
     doi = {10.1016/j.robot.2016.04.010},
     acmid = {2956548},
     publisher = {North-Holland Publishing Co.},
     address = {Amsterdam, The Netherlands, The Netherlands},
     keywords = {Autonomy, Path-planning, Robot control architectures, Task-planning}
   }
   

   Most of the robotic systems are designed to move and perform tasks in a variety of environments. Some of these environments are controllable and well-defined, and the tasks to be performed are generally everyday ones. However, exploration missions also enclose hard constraints such as driving vehicles to many locations in a surface of several kilometres to collect and/or analyse interesting samples. Therefore, a critical aspect for the mission is to optimally (or sub-optimally) plan the path that a robot should follow while performing scientific tasks. In this paper, we present up2ta, a new AI planner that interleaves path-planning and task-planning for mobile robotics applications. The planner is the result of integrating a modified PDDL planner with a path-planning algorithm, combining domain-independent heuristics and a domain-specific heuristic for path-planning. Then, up2ta can exploit capabilities of both planners to generate shorter paths while performing scientific tasks in an efficient ordered way. The planner has been tested in two domains: an exploration mission consisting of pictures acquisition, and a more challenging one that includes samples delivering. Also, up2ta has been integrated and tested in a real robotic platform for both domains.

5. C. J. Hernández-Castro, D. F. Barrero, and M. D. R-Moreno, “Machine learning and empathy: the Civil Rights CAPTCHA,” Concurrency and Computation: Practice and Experience, vol. 28, no. 4, pp. 1310–1323, Mar. 2016. Publisher. DOI. Abstract. BibTeX.

   @article{Hernandez-Castro2016,
     author = {Hern{\'{a}}ndez-Castro, Carlos Javier and Barrero, David F. and R-Moreno, Mar{\'{i}}a D.},
     doi = {10.1002/cpe.3632},
     issn = {15320626},
     journal = {Concurrency and Computation: Practice and Experience},
     month = mar,
     number = {4},
     pages = {1310--1323},
     title = {{Machine learning and empathy: the Civil Rights CAPTCHA}},
     url = {http://onlinelibrary.wiley.com/doi/10.1002/cpe.3632/abstract},
     volume = {28},
     year = {2016}
   }
   

   Human interactive proofs (HIPs) are a basic security measure on the Internet to avoid automatic attacks. There is an ongoing effort to find a HIP that is secure enough yet easy for humans. Recently, a new HIP has been designed aiming at higher security: the Civil Rights Completely Automated Public Turing test to tell Computers and Humans Apart (CAPTCHA). It employs the empathy capacity of humans to further strengthen Securimage, a well-known text CAPTCHA. In this paper, we analyze it from a security perspective, finding fundamental design flaws. Using several well-known machine learning (ML) algorithms, we analyze to what extent these flaws affect its security. We discover that thanks to them, we can create a successful side-channel attack. This attack is able to correctly solve the HIP on 20.7% of occasions, much more than enough to consider it broken. Thus, we show that there is no need to solve the problem of optical character recognition nor empathy analysis for computers to break this particular HIP. ML can be successfully used to break a HIP that uses both with a side-channel attack. This security analysis can be applied to other HIPs. It will allow to test whether they are leaking too much information by unexpected ways, given non-evident design flaws.

6. A. Collado Villaverde, M. D. R-Moreno, D. F. Barrero, and D. Rodríguez, “Triaxial Accelerometer Located on the Wrist for Elderly People’s Fall Detection,” in Intelligent Data Engineering and Automated Learning (IDEAL 2016), Yangzhou, China, 2016, pp. 523–532. Publisher. Abstract. BibTeX.

   @inproceedings{ideal2016,
     author = {Collado Villaverde, Armando and R-Moreno, Mar\'{i}a D. and Barrero, David F. and Rodr\'{i}guez, Daniel},
     title = {Triaxial Accelerometer Located on the Wrist for Elderly People's Fall Detection},
     booktitle = {Intelligent Data Engineering and Automated Learning (IDEAL 2016)},
     series = {IDEAL 2016},
     year = {2016},
     address = {Yangzhou, China},
     pages = {523-532},
     month = oct,
     publisher = {Springer-Verlag},
     webpdf = {/assets/pdfs/ideal2016.pdf},
     slides = {https://www.slideshare.net/DavidFBarrero/triaxial-accelerometer-located-on-the-wrist-for-elderly-peoples-fall-detection},
     dataset = {/assets/datasets/ideal2016.zip},
     url = {http://link.springer.com/chapter/10.1007/978-3-319-46257-8_56}
   }
   

   → PDF
   → Dataset
   → Slides
   

   The loss of motor function in the elderly makes this population group prone to accidental falls. Actually, falls are one of the most notable concerns in elder care. Not surprisingly, there are several technical solutions to detect falls, however, none of them has achieved great acceptance. The popularization of smartwatches provides a promising tool to address this problem. In this work, we present a solution that applies machine learning techniques to process the output of a smartwatch accelerometer, being able to detect a fall event with high accuracy. To this end, we simulated the two most common types of falls in elders, gathering acceleration data from the wrist, then applied that data to train two classifiers. The results show high accuracy and robust classifiers able to detect falls.

7. A. Collado Villaverde, M. D. R-Moreno, D. F. Barrero, and D. Rodríguez, “Detección de caídas mediante un acelerómetro de tres ejes ubicado en la muñeca en personas de tercera edad,” in Actas de la XVII Conferencia de la Asociación Española para la Inteligencia Artificial (CAEPIA 2016), Salamanca, Spain, 2016, pp. 29–38. Publisher. BibTeX.

   @inproceedings{caepia2016,
     author = {Collado Villaverde, Armando and R-Moreno, Mar\'{i}a D. and Barrero, David F. and Rodr\'{i}guez, Daniel},
     title = {Detecci\'{o}n de ca\'{i}das mediante un aceler\'{o}metro de tres ejes ubicado en la mu\~{n}eca en personas de tercera edad},
     booktitle = {Actas de la XVII Conferencia de la Asociaci\'{o}n Espa\~{n}ola para la Inteligencia Artificial (CAEPIA 2016)},
     series = {CAEPIA 2016},
     year = {2016},
     address = {Salamanca, Spain},
     pages = {29-38},
     month = sep,
     publisher = {Ediciones Universidad Salamanca},
     url = {https://citius.usc.es/sites/default/files/publicacions_publicaciones/2016CEDI_CAEPIA_LODISCO.pdf},
     webpdf = {/assets/pdfs/caepia2016falls.pdf}
   }
   

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8. Y. E-Martín, M. D. R-Moreno, and D. Smith, “Incremental Contingency Planning for Recovering from Uncertain Outcomes,” in Actas de la XVII Conferencia de la Asociación Española para la Inteligencia Artificial (CAEPIA 2016), Salamanca, Spain, 2016, pp. 237–250. Publisher. BibTeX.

   @inproceedings{caepia2016b,
     author = {E-Mart{\'i}n, Yolanda and R-Moreno, Mar\'{i}a D. and Smith, David},
     title = {Incremental Contingency Planning for Recovering from Uncertain Outcomes},
     booktitle = {Actas de la XVII Conferencia de la Asociaci\'{o}n Espa\~{n}ola para la Inteligencia Artificial (CAEPIA 2016)},
     series = {CAEPIA 2016},
     year = {2016},
     address = {Salamanca, Spain},
     pages = {237-250},
     month = sep,
     publisher = {Ediciones Universidad Salamanca},
     url = {http://congresocedi.es/actas/downloads/CAEPIA.pdf},
     webpdf = {/assets/pdfs/caepia2016.pdf}
   }
   

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9. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “A Weighted Penalty Fitness for a Hybrid MOGA-CSP to solve Mission Planning Problems,” in XI Congreso Español de Metaheurísticas, Algoritmos Evolutivos y Bioinspirados (MAEB 2016), Salamanca, Spain, 2016, pp. 305–314. BibTeX.

   @inproceedings{RamirezAtencia2016w,
     title = {A Weighted Penalty Fitness for a Hybrid MOGA-CSP to solve Mission Planning Problems},
     author = {Ramirez-Atencia, Cristian and Bello-Orgaz, Gema and R-Moreno, Maria D and Camacho, David},
     booktitle = {XI Congreso Español de Metaheurísticas, Algoritmos Evolutivos y Bioinspirados (MAEB 2016)},
     series = {MAEB 2016},
     year = {2016},
     pages = {305-314},
     address = {Salamanca, Spain},
     month = sep,
     webpdf = {/assets/pdfs/maeb2016.pdf}
   }
   

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10. A. Kazemi and M. D. R-Moreno, “Results of the Electrolysis Percutaneous Intratissue in the shoulder pain: infraspinatus,” La Revista Cubana de Ortopedia y Traumatología, vol. 30, no. 1, 2016. Publisher. BibTeX.

    @article{Kazemi2016,
      author = {Kazemi, Alireza and R-Moreno, Maria D.},
      title = {Results of the Electrolysis Percutaneous Intratissue in the shoulder pain: infraspinatus},
      journal = {La Revista Cubana de Ortopedia y Traumatología},
      year = {2016},
      volume = {30},
      number = {1},
      url = {http://www.revortopedia.sld.cu/index.php/revortopedia/article/view/87}
    }
    

2015

1. P. Muñoz, B. Castaño, and M. D. R-Moreno, “Simulation of The Hexapod Robot PTinto Walking on Irregular Surfaces,” International Journal of Simulation Modelling, vol. 14, pp. 1–12, Mar. 2015. Publisher. Abstract. BibTeX.

   @article{Munoz2015,
     author = {Muñoz, Pablo and Castaño, Bonifacio and R-Moreno, Maria D.},
     title = {Simulation of The Hexapod Robot {PT}into Walking on Irregular Surfaces},
     journal = {International Journal of Simulation Modelling},
     year = {2015},
     volume = {14},
     pages = {1-12},
     month = mar,
     url = {http://www.ijsimm.com/Full_Papers/Fulltext2015/text14-1_5-16.pdf}
   }
   

   In this article we present our recent work on the simulation of a hexapod robot called PTinto. This robot is a prototype that has been designed to test the six legs locomotion system in the surrounding areas of the Tinto River (Huelva-Spain), which scientists have considered that could potentially have many similarities to the Mars surface. This kind of robots represents a great advance in the planetary research that overcomes the performance of the usual rover when operating in rocky and cumbersome areas. We are developing some of the software PTinto requires to autonomously control it and, in particular, the program that simulates its movements on any surface. Up to now we have a graphic computer program, developed in MATLAB, that represents the robot and allow us to check its movements in a lot of detail. We present in this paper all the elements and resources we use for the simulation and control of PTinto walking on irregular surfaces. Thanks to this simulation program, we could test different autonomous control strategies for the PTinto robot.

2. P. Muñoz and M. D. R-Moreno, “On Heading Change Measurement: Improvements for Any Angle Path-Planning,” V. J. M. Hadjiski N kasabov, Ed. Novel Applications of Intelligent Systems, 2015. Publisher. Abstract. BibTeX.

   @inbook{Munoz2015a,
     chapter = {6},
     title = {On Heading Change Measurement: Improvements for Any Angle Path-Planning},
     publisher = {Novel Applications of Intelligent Systems},
     year = {2015},
     editor = {M. Hadjiski, N kasabov, V. Jotsov},
     author = {Muñoz, Pablo and R-Moreno, Maria D.},
     month = apr,
     url = {https://link.springer.com/chapter/10.1007/978-3-319-14194-7_5}
   }
   

   Finding the most efficient and safe path between locations is a ubiquitous problem that occurs in smart phone GPS applications, mobile robotics and even video games. Mobile robots in particular must often operate in any type of terrain. The problem of finding the shortest path on a discretized, continuous terrain has been widely studied, and many applications have been fielded, including planetary exploration missions (i.e. the MER rovers). In this chapter we review some of the most well known path-planning algorithms and we propose a new parameter that can help us to compare them under a different measure: the heading changes and to perform some improvements in any-angle path-planning algorithms. First, we define a heuristic function to guide the process towards the objective, improving the computational cost of the search. Results show that algorithms using this heuristic get better runtime and memory usage than the former ones, with a slightly degradation of other parameters such as path length. And second, we modify an any-angle path-planning algorithm to consider heading changes during the search in order to minimize them. Experiments show that this algorithm obtains smoother paths than the other algorithms tested.

3. P. Muñoz, A. Cesta, A. Orlandini, and M. D. R-Moreno, “Evaluating Autonomous Controllers: An Initial Assessment,” in 6th Italian Workshop on Planning and Scheduling, Ferrara, Italy, 2015. BibTeX.

   @inproceedings{Munoz2015b,
     author = {Muñoz, Pablo and Cesta, Amedeo and Orlandini, Andrea and R-Moreno, Maria D.},
     title = {Evaluating Autonomous Controllers: An Initial Assessment},
     booktitle = {6th Italian Workshop on Planning and Scheduling},
     year = {2015},
     address = {Ferrara, Italy},
     month = sep
   }
   

4. P. Muñoz, A. Cesta, A. Orlandini, and M. D. R-Moreno, “The On-Ground Autonomy Test Environment: OGATE,” in Procs. of the 13th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2015), Noordwijk, The Netherlands, 2015. BibTeX.

   @inproceedings{Munoz2015c,
     author = {Muñoz, Pablo and Cesta, Amedeo and Orlandini, Andrea and R-Moreno, Maria D.},
     title = {The On-Ground Autonomy Test Environment: {OGATE}},
     booktitle = {Procs. of the 13th ESA Workshop on Advanced Space Technologies for
         Robotics and Automation (ASTRA 2015)},
     year = {2015},
     address = {Noordwijk, The Netherlands},
     month = may,
     webpdf = {/assets/pdfs/astra2015.pdf}
   }
   

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5. P. Muñoz, A. Cesta, A. Orlandini, and M. D. R-Moreno, “A Framework for Performance Assessment of Autonomous Robotic Controllers,” in Proc. of the 2nd Workshop on Planning and Robotics (ICAPS 2015), Jerusalem, Israel, 2015. Publisher. BibTeX.

   @inproceedings{Munoz2015d,
     author = {Muñoz, Pablo and Cesta, Amedeo and Orlandini, Andrea and R-Moreno, María D.},
     title = {A Framework for Performance Assessment of Autonomous Robotic Controllers},
     booktitle = {Proc. of the 2nd Workshop on Planning and Robotics (ICAPS 2015)},
     year = {2015},
     address = {Jerusalem, Israel},
     month = jun,
     url = {http://icaps15.icaps-conference.org/workshops/PlanRob\%202015\%20-\%20Proceedings\%20v5.pdf}
   }
   

6. S. Luengo, S. Winkler, D. F. Barrero, and B. Castaño, “Optimization of Trading Rules for the Spanish Stock Market by Genetic Programming,” in Current Approaches in Applied Artificial Intelligence: 28th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2015, Seoul, South Korea, June 10-12, 2015, Proceedings, M. Ali, Y. S. Kwon, C.-H. Lee, J. Kim, and Y. Kim, Eds. Cham: Springer International Publishing, 2015, pp. 623–634. Publisher. DOI. BibTeX.

   @inbook{ieaaie2015,
     author = {Luengo, Sergio and Winkler, Stephan and Barrero, David F. and Casta{\~{n}}o, Bonifacio},
     editor = {Ali, Moonis and Kwon, Young Sig and Lee, Chang-Hwan and Kim, Juntae and Kim, Yongdai},
     title = {Optimization of Trading Rules for the Spanish Stock Market by Genetic Programming},
     booktitle = {Current Approaches in Applied Artificial Intelligence: 28th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2015, Seoul, South Korea, June 10-12, 2015, Proceedings},
     year = {2015},
     publisher = {Springer International Publishing},
     address = {Cham},
     pages = {623--634},
     isbn = {978-3-319-19066-2},
     doi = {10.1007/978-3-319-19066-2_60},
     url = {http://link.springer.com/chapter/10.1007\%2F978-3-319-19066-2_60}
   }
   

7. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “A Hybrid MOGA-CSP for Multi-UAV Mission Planning,” in Proceedings of the Companion Publication of the 2015 Annual Conference on Genetic and Evolutionary Computation (GECCO 2015), Madrid, Spain, 2015, pp. 1205–1208. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Ramirez-Atencia2015a,
     author = {Ramirez-Atencia, Cristian and Bello-Orgaz, Gema and R-Moreno, Maria D. and Camacho, David},
     title = {A Hybrid MOGA-CSP for Multi-UAV Mission Planning},
     booktitle = {Proceedings of the Companion Publication of the 2015 Annual Conference on Genetic and Evolutionary Computation (GECCO 2015)},
     series = {GECCO 15},
     year = {2015},
     isbn = {978-1-4503-3488-4},
     address = {Madrid, Spain},
     pages = {1205--1208},
     numpages = {4},
     url = {https://dl.acm.org/citation.cfm?doid=2739482.2768481},
     doi = {10.1145/2739482.2768481},
     acmid = {2768481},
     publisher = {ACM},
     webpdf = {/assets/pdfs/gecco2015.pdf}
   }
   

   → PDF
   

   Mission Planning Problem for a large number of Unmanned Air Vehicles (UAV) consists of a set of locations to visit in different time windows, and the actions that the vehicle can perform based on its features such as the sensors, speed or fuel capacity. After formulating this problem as a Constraint Satisfaction Problem (CSP), we try to search the set of Non dominated solutions which minimize the fuel consumption and the makespan of the mission. To solve it, we will use a Multi-Objective Genetic Algorithm (MOGA), that will match the model constraints and use a multi-objective function in order to optimize these objective variables.

8. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “Performance Evaluation of Multi-UAV Cooperative Mission Planning Models,” in 7th International Conference Computational Collective Intelligence (ICCCI 2015), M. Núñez, N. T. Nguyen, D. Camacho, and B. Trawiński, Eds. Madrid, Spain: Springer International Publishing, 2015, pp. 203–212. Publisher. DOI. Abstract. BibTeX.

   @inbook{Ramirez-Atencia2015b,
     author = {Ramirez-Atencia, Cristian and Bello-Orgaz, Gema and R-Moreno, Maria D. and Camacho, David},
     editor = {N{\'u}{\~{n}}ez, Manuel and Nguyen, Ngoc Thanh and Camacho, David and Trawi{\'{n}}ski, Bogdan},
     title = {Performance Evaluation of Multi-UAV Cooperative Mission Planning Models},
     booktitle = {7th International Conference Computational Collective Intelligence (ICCCI 2015)},
     year = {2015},
     publisher = {Springer International Publishing},
     address = {Madrid, Spain},
     month = sep,
     pages = {203--212},
     isbn = {978-3-319-24306-1},
     doi = {10.1007/978-3-319-24306-1_20},
     url = {https://doi.org/10.1007/978-3-319-24306-1_20},
     webpdf = {/assets/pdfs/iccci2015.pdf}
   }
   

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   The Multi-UAV Cooperative Mission Planning Problem (MCMPP) is a complex problem which can be represented with a lower or higher level of complexity. In this paper we present a MCMPP which is modelled as a Constraint Satisfaction Problem (CSP) with 5 increasing levels of complexity. Each level adds additional variables and constraints to the problem. Using previous models, we solve the problem using a Branch and Bound search designed to minimize the fuel consumption and number of UAVs employed in the mission, and the results show how runtime increases as the level of complexity increases in most cases, as expected, but there are some cases where the opposite happens.

9. E.-M. Yolanda, M. D. R-Moreno, and D. Smith, “A fast goal recognition technique based on interaction estimates,” in Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI 2015), Buenos Aires, Argentina, 2015, pp. 761–768. BibTeX.

   @inproceedings{EMartin2015ijcai,
     title = {A fast goal recognition technique based on interaction estimates},
     author = {Yolanda, E-Mart{\'i}n and R-Moreno, Maria D. and Smith, David},
     booktitle = {Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI 2015)},
     address = {Buenos Aires, Argentina},
     year = {2015},
     pages = {761-768},
     webpdf = {http://www.ijcai.org/Proceedings/15/Papers/113.pdf}
   }
   

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10. E.-M. Yolanda, M. D. R-Moreno, and D. Smith, “A Heuristic Estimator based on Cost Interaction,” in Proceedings of the 7th ICAPS - 15 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP), Jerusalem, Israel, 2015. BibTeX.

    @inproceedings{EMartin2015hsdip,
      title = {A Heuristic Estimator based on Cost Interaction},
      author = {Yolanda, E-Mart{\'i}n and R-Moreno, Maria D. and Smith, David},
      booktitle = {Proceedings of the 7th ICAPS - 15 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP)},
      address = {Jerusalem, Israel},
      month = jun,
      year = {2015}
    }
    

11. C. J. Hernández-Castro, D. F. Barrero, and M. D. R-Moreno, “A Machine Learning Attack against the Civil Rights CAPTCHA,” in Intelligent Distributed Computing VIII, Madrid, España, 2015, pp. 239–248. Publisher. Abstract. BibTeX.

    @inproceedings{HernandezCastro2015idc,
      author = {Hern\'andez-Castro, Carlos Javier and Barrero, David F. and R-Moreno, Mar\'a D.},
      title = {A Machine Learning Attack against the Civil Rights CAPTCHA},
      booktitle = {Intelligent Distributed Computing VIII},
      series = {Studies in Computational Intelligence},
      year = {2015},
      isbn = {978-3-319-10421-8},
      publisher = {Springer International Publishing},
      pages = {239-248},
      location = {Madrid, Espa\~na},
      address = {Madrid, Espa\~na},
      webpdf = {/assets/pdfs/idc2014.pdf},
      url = {https://link.springer.com/chapter/10.1007/978-3-319-10422-5_26}
    }
    

    → PDF
    

    Human Interactive Proofs (HIPs) are a basic security measure on the Internet to avoid several types of automatic attacks. Recently, a new HIP has been designed to increase security: the Civil Rights CAPTCHA. It employs the empathy capacity of humans to further strengthen the security of a well known OCR CAPTCHA, Securimage. In this paper, we analyse it from a security perspective, pointing out its design flaws. Then, we create a successful side-channel attack, leveraging some well-known machine learning algorithms.

12. C. J. Hernandez-Castro, M. D. R-Moreno, and D. F. Barrero, “Using JPEG to Measure Image Continuity and Break Capy and Other Puzzle CAPTCHAs,” IEEE Internet Computing, vol. 19, no. 6, pp. 46–53, Nov. 2015. Publisher. DOI. Abstract. BibTeX.

    @article{HernandezCastro2015ieee,
      author = {Hernandez-Castro, C.J. and R-Moreno, M.D. and Barrero, D.F.},
      journal = {IEEE Internet Computing},
      title = {Using JPEG to Measure Image Continuity and Break Capy and Other Puzzle CAPTCHAs},
      year = {2015},
      volume = {19},
      number = {6},
      pages = {46-53},
      keywords = {Internet;data compression;image coding;security of data;Capy CAPTCHA;Internet security;JPEG;completely automated public turing test to tell computers and humans apart;human interactive proofs;image continuity;image recomposition CAPTCHA;puzzle CAPTCHA;side-channel attack;CAPTCHAs;Discrete cosine transforms;Image coding;Image color analysis;Internet;Transform coding;CAPTCHA;HIP;Internet/Web technologies;JPEG;authentication;image processing;puzzle;recomposition;side channel},
      doi = {10.1109/MIC.2015.127},
      issn = {1089-7801},
      month = nov,
      url = {https://www.computer.org/csdl/mags/ic/2015/06/mic2015060046-abs.html}
    }
    

    Human interactive proofs (HIPs) are a basic security measure on the Internet to avoid several types of automatic attacks. A variety of designs have been proposed. Here, the authors focus on a new type of HIP, based on a puzzle completion scheme that has been created to increase security and usability: the Capy CAPTCHA (Completely Automated Public Turing test to tell Computers and Humans Apart). Analyzing its design, the authors find important flaws and weaknesses, and propose a low-cost, side-channel attack, using JPEG to measure the image’s continuity. Their attack has a 65 percent success rate. After analyzing experimental results, they extended their approach to other puzzle CAPTCHAs, breaking them at 20 percent (KeyCAPTCHA) and 98 percent (Garb) success ratios.

13. G. B. Orgaz, D. F. Barrero, M. D. R-Moreno, and D. Camacho, “Acquisition of business intelligence from human experience in route planning,” Enterprise Information Systems, vol. 9, no. 3, pp. 303–323, 2015. Publisher. DOI. Abstract. BibTeX.

    @article{eis2015,
      author = {Orgaz, Gema Bello and Barrero, David F. and R-Moreno, María D. and Camacho, David},
      title = {Acquisition of business intelligence from human experience in route planning},
      journal = {Enterprise Information Systems},
      volume = {9},
      number = {3},
      pages = {303-323},
      year = {2015},
      doi = {10.1080/17517575.2012.759279},
      url = {http://www.tandfonline.com/doi/abs/10.1080/17517575.2012.759279},
      webpdf = {/assets/pdfs/eis2015.pdf}
    }
    

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    The logistic sector raises a number of highly challenging problems. Probably one of the most important ones is the shipping planning, i.e. plan the routes that the shippers have to follow to deliver the goods. In this article, we present an artificial intelligence-based solution that has been designed to help a logistic company to improve its routes planning process. In order to achieve this goal, the solution uses the knowledge acquired by the company drivers to propose optimised routes. Hence, the proposed solution gathers the experience of the drivers, processes it and optimises the delivery process. The solution uses data mining to extract knowledge from the company information systems and prepares it for analysis with a case-based reasoning (CBR) algorithm. The CBR obtains critical business intelligence knowledge from the drivers experience that is needed by the planner. The design of the routes is done by a genetic algorithm that, given the processed information, optimises the routes following several objectives, such as minimise the distance or time. Experimentation shows that the proposed approach is able to find routes that improve, on average, the routes made by the human experts.

14. D. F. Barrero, P. Muñoz, D. Camacho, and M. D. R-Moreno, “On the Statistical Distribution of the expected Run-Time in Population-Based Search Algorithms,” Soft Computing, vol. 19, no. 10, pp. 2717–2734, 2015. Publisher. Abstract. BibTeX.

    @article{Barrero2015,
      title = {{On the Statistical Distribution of the expected Run-Time in Population-Based Search Algorithms}},
      year = {2015},
      author = {Barrero, David F. and Mu\~{n}oz, Pablo and Camacho, David and R-Moreno, Mar\'ia D.},
      journal = {Soft Computing},
      volume = {19},
      pages = {2717-2734},
      number = {10},
      dataset = {/assets/datasets/soco2015.zip},
      url = {https://link.springer.com/article/10.1007\%2Fs00500-015-1672-y}
    }
    

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    Run-time analysis is a method that characterizes the run-time behaviour of an algorithm. It has been successfully used to analyse metaheuristics and stochastic local search algorithms. Some studies on genetic programming and related stochastic search algorithms suggested the existence of a rationale behind the run-time behaviour which could be exploited to better understand the algorithm looking at its run-time response. Under that hypothesis, this paper presents empirical evidence suggesting common statistical properties in the run-time of several types of population-based search algorithms, including genetic algorithms, genetic programming, grammatical evolution, differential evolution or particle swarm optimization. In this analysis, only the run-time of runs that were able to find a solution are considered; unsuccessful runs are not included in the analysis. The run-time to find a solution, measured by the number of evaluations, of some well-known evolutionary algorithms is empirically obtained, finding that it usually can be approximated using a lognormal distribution, with the exception of some difficult problems, which are better approximated by an exponential. We also show that the algorithm parameter settings might influence the yielding run-time statistical distribution; in particular, when there is no selective pressure, the run-time, measured as the number of evaluations to find a solution, follows a Weibull distribution instead of a lognormal one. Finally, we outline a framework using a simple theoretical discrete-time model, showing that the geometrically distributed run-time is a consequence of the lack of memory in the algorithm.

15. D. F. Barrero, B. Castaño, M. D. R-Moreno, and D. Camacho, “A study on Koza’s performance measures,” Genetic Programming and Evolvable Machines, vol. 16, no. 3, pp. 327–349, 2015. Publisher. Abstract. BibTeX.

    @article{Barrero2014gpem,
      year = {2015},
      issn = {1389-2576},
      journal = {Genetic Programming and Evolvable Machines},
      volume = {16},
      number = {3},
      title = {A study on Koza's performance measures},
      url = {http://link.springer.com/article/10.1007/s10710-014-9238-9},
      publisher = {Springer US},
      keywords = {Genetic Programming; Computational effort; Performance measures; Experimental methods; Measurement error},
      author = {Barrero, David F. and Casta\~{n}o, Bonifacio and R-Moreno, Mar\'{i}a D. and Camacho, David},
      pages = {327-349},
      webpdf = {/assets/pdfs/gpem2014.pdf},
      dataset = {/assets/datasets/gpem2014.zip}
    }
    

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    → Dataset
    

    John R. Koza defined several metrics to measure the performance of an Evolutionary Algorithm that have been widely used by the Genetic Programming community. Despite the importance of these metrics, and the doubts that they have generated in many authors, their reliability has attracted little research attention, and is still not well understood. The lack of knowledge about these metrics has likely contributed to the decline in their usage in the last years. This paper is an attempt to increase the knowledge about these measures, exploring in which circumstances they are more reliable, providing some clues to improve how they are used, and eventually making their use more justifiable. Specifically, we investigate the amount of uncertainty associated with the measures, taking an analytical and empirical approach and reaching theoretical boundaries to the error. Additionally, a new method to calculate Koza’s performance measures is presented. It is shown that these metrics, under common experimental configurations, have an unacceptable error, which can be arbitrary large in certain conditions.

16. P. Muñoz, D. F. Barrero, and M. D. R-Moreno, “A Statistically Rigorous Analysis of 2D Path-Planning Algorithms,” The Computer Journal, vol. 58, no. 11, pp. 2876–2891, 2015. Publisher. DOI. Abstract. BibTeX.

    @article{Munoz2014tcj,
      year = {2015},
      journal = {The Computer Journal},
      volume = {58},
      number = {11},
      title = {A Statistically Rigorous Analysis of 2D Path-Planning Algorithms},
      url = {https://academic.oup.com/comjnl/article-abstract/58/11/2876/447841/A-Statistically-Rigorous-Analysis-of-2D-Path},
      publisher = {Oxford University Press},
      author = {Mu\~noz, Pablo and Barrero, David F. and R-Moreno, Mar\'ia D.},
      pages = {2876-2891},
      doi = {10.1093/comjnl/bxu137},
      webpdf = {/assets/pdfs/tcj2014.pdf}
    }
    

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    Path-planning is a well-known studied problem in Artificial Intelligence. Given two points in a map, path-planning algorithms search for a path that joins those two points, avoiding obstacles. It is a challenging problem with important practical applications in a wide range of applications: autonomous mobile robotics, logistics or video games, just to mention some of them. Given its importance, it has attracted much research, resulting in a large number of algorithms, some classical, such as A*, other more specialized, such as swarms. However, despite all the literature dedicated to this problem, the statistics used to analyze experimental results in most cases are naïve. In this paper, we position in favor of the need of incorporating stronger statistical methods in path-planning empirical research and promote a debate in the research community. To this end, we analyze some 2D-grid classical path-planning algorithms in discrete domains (i.e. A* and A* with post-processing) and more recent algorithms in continuous domains (i.e. Theta* and S-Theta*). Given the differences of these algorithms, we study them under different criteria: Run-time, number of heading changes, number of expanded vertices and path-length.

2014

1. C. J. Hernández-Castro, M. D. R-Moreno, and D. F. Barrero, “Side-Channel Attack Against the Capy HIP,” in 2014 International Conference on Emergent Security Technologies (EST 2014), Alcalá de Henares, Spain, 2014, pp. 99–104. Publisher. Abstract. BibTeX.

   @inproceedings{HernandezCastro2014est,
     author = {Hern\'{a}ndez-Castro, Carlos Javier and R-Moreno, Mar\'ia D. and Barrero, David F.},
     title = {Side-Channel Attack Against the Capy HIP},
     booktitle = {2014 International Conference on Emergent Security Technologies (EST 2014)},
     series = {EST 2014},
     year = {2014},
     isbn = {978-1-4799-7007-0},
     location = {Alcal\'a de Henares, Spain},
     address = {Alcal\'a de Henares, Spain},
     pages = {99-104},
     numpages = {6},
     url = {http://ieeexplore.ieee.org/document/6982783/},
     webpdf = {/assets/pdfs/est2014.pdf},
     publisher = {IEEE}
   }
   

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   One of the first approaches to proposed to prevent automated attacks on Internet were the Human Interactive Proofs(HIPs). Since their invention, a variety of designs have been proposed, yet most of them have been successfully attacked. In this paper we focus on a new HIP, based on a puzzle solving scheme, created to increase both security and usability: the Capy CAPTCHA. We have analyzed its design, finding some important flaws. Based on them, we propose a low-cost, side-channel attack. Initial results show that the attack is able to break Capy with a 61% success ratio.

2. M. D. R-Moreno and A. Stoica, “Ideograms Representation for Cognitive Systems in Robotics,” in 2014 Fifth International Conference on Emerging Security Technologies, Workshop on Human-Machine Systems, Cybors and Enhancing Devices (HUMASCEND), Alcalá de Henares, Spain, 2014, pp. 57–62. Publisher. DOI. BibTeX.

   @inproceedings{R-Moreno2014est,
     author = {R-Moreno, M. D. and Stoica, A.},
     booktitle = {2014 Fifth International Conference on Emerging Security Technologies, Workshop on Human-Machine Systems, Cybors and Enhancing Devices (HUMASCEND)},
     title = {Ideograms Representation for Cognitive Systems in Robotics},
     series = {EST 2014},
     year = {2014},
     volume = {},
     number = {},
     pages = {57-62},
     keywords = {cognitive systems;human-robot interaction;knowledge representation;robots;cognitive psychology;ideogram representation;perceptive symbol;robotic system;Cognition;Planning;Proposals;Psychology;Robot sensing systems;Shape;Cognitive architectures;autonomy;ideograms;robotics},
     doi = {10.1109/EST.2014.21},
     issn = {},
     address = {Alcalá de Henares, Spain},
     month = sep,
     url = {http://ieeexplore.ieee.org/document/6982775/},
     webpdf = {/assets/pdfs/est2014ideograms.pdf}
   }
   

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3. H. D. Menéndez, D. F. Barrero, and D. Camacho, “A genetic graph-based approach for partitional clustering,” International Journal of Neural Systems, vol. 24, no. 03, p. 1430008, 2014. Publisher. BibTeX.

   @article{Menendez2014,
     title = {A genetic graph-based approach for partitional clustering},
     author = {Menéndez, Héctor D and Barrero, David F and Camacho, David},
     journal = {International Journal of Neural Systems},
     volume = {24},
     number = {03},
     pages = {1430008},
     year = {2014},
     url = {http://www.worldscientific.com/doi/abs/10.1142/S0129065714300083},
     publisher = {World Scientific}
   }
   

4. H. Y. Corral, J. C. Párraga, and M. D. R. Moreno, “Encouraging the Application of Virtual Environments for Space Training,” in 2014 Fifth International Conference on Emerging Security Technologies, Workshop on Human-Machine Systems, Cybors and Enhancing Devices (HUMASCEND), Alcalá de Henares, Spain, 2014, pp. 118–123. DOI. BibTeX.

   @inproceedings{Corral2014,
     author = {Corral, H. Y. and Párraga, J. C. and Moreno, M. D. R.},
     booktitle = {2014 Fifth International Conference on Emerging Security Technologies, Workshop on Human-Machine Systems, Cybors and Enhancing Devices (HUMASCEND)},
     title = {Encouraging the Application of Virtual Environments for Space Training},
     year = {2014},
     volume = {},
     number = {},
     pages = {118-123},
     keywords = {aerospace computing;computer based training;graphical user interfaces;intelligent tutoring systems;virtual reality;3D graphical interface;intelligent tutoring system;space training;virtual environment application;Monitoring;Ontologies;Solid modeling;Space vehicles;Three-dimensional displays;Training;Virtual environments;Monitoring;Planning;Simulation;Space training;Virtual environments},
     doi = {10.1109/EST.2014.29},
     issn = {},
     address = {Alcalá de Henares, Spain},
     month = sep,
     webpdf = {/assets/pdfs/est2014encoureging.pdf}
   }
   

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5. C. Ramirez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “A simple CSP-based model for Unmanned Air Vehicle Mission Planning,” in 2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings, 2014, pp. 146–153. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Ramirez-Atencia2014inista,
     author = {Ramirez-Atencia, C. and Bello-Orgaz, G. and R-Moreno, M. D. and Camacho, D.},
     booktitle = {2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings},
     title = {A simple CSP-based model for Unmanned Air Vehicle Mission Planning},
     year = {2014},
     volume = {},
     number = {},
     pages = {146-153},
     keywords = {autonomous aerial vehicles;constraint satisfaction problems;path planning;search problems;TCSP;backtracking algorithm;backtracking search;fuel capacity feature;mission priorities;mission simulations;payload feature;simple CSP-based model;speed feature;temporal constraint model;temporal constraint satisfaction problem;time windows;unmanned air vehicle mission planning;Cameras;Fuels;Payloads;Planning;Radar equipment;Runtime;Vehicles;Backtracking;Mission Planning;Temporal Constraint Satisfaction Problems;Unmanned Aircraft Systems},
     doi = {10.1109/INISTA.2014.6873611},
     issn = {},
     month = jun,
     url = {http://ieeexplore.ieee.org/abstract/document/6873611/},
     webpdf = {/assets/pdfs/inista2014.pdf}
   }
   

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   The problem of Mission Planning for a large number of Unmanned Air Vehicles (UAV) can be formulated as a Temporal Constraint Satisfaction Problem (TCSP). It consists on a set of locations that should visit in different time windows, and the actions that the vehicle can perform based on its features such as the payload, speed or fuel capacity. In this paper, a temporal constraint model is implemented and tested by performing Backtracking search in several missions where its complexity has been incrementally modified. The experimental phase consists on two different phases. On the one hand, several mission simulations containing (n) UAVs using different sensors and characteristics located in different waypoints, and (m) requested tasks varying mission priorities have been carried out. On the other hand, the second experimental phase uses a backtracking algorithm to look through the whole solutions space to measure the scalability of the problem. This scalability has been measured as a relation between the number of tasks to be performed in the mission and the number of UAVs needed to perform it.

6. C. Ramírez-Atencia, G. Bello-Orgaz, M. D. R-Moreno, and D. Camacho, “Branching to Find Feasible Solutions in Unmanned Air Vehicle Mission Planning,” in 15th International Conference on Intelligent Data Engineering and Automated Learning (IDEAL 2014), E. Corchado, J. A. Lozano, H. Quintián, and H. Yin, Eds. Salamanca, Spain: Springer International Publishing, 2014, pp. 286–294. Publisher. DOI. Abstract. BibTeX.

   @inbook{Ramírez-Atencia2014ideal,
     author = {Ram{\'i}rez-Atencia, Cristian and Bello-Orgaz, Gema and R-Moreno, Maria D. and Camacho, David},
     editor = {Corchado, Emilio and Lozano, Jos{\'e} A. and Quinti{\'a}n, H{\'e}ctor and Yin, Hujun},
     title = {Branching to Find Feasible Solutions in Unmanned Air Vehicle Mission Planning},
     booktitle = {15th International Conference on Intelligent Data Engineering and Automated Learning (IDEAL 2014)},
     month = sep,
     year = {2014},
     publisher = {Springer International Publishing},
     address = {Salamanca, Spain},
     pages = {286--294},
     isbn = {978-3-319-10840-7},
     doi = {10.1007/978-3-319-10840-7_35},
     url = {https://doi.org/10.1007/978-3-319-10840-7_35},
     webpdf = {/assets/pdfs/ideal2014.pdf}
   }
   

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   Mission Planning is a classical problem that has been traditionally studied in several cases from Robotics to Space missions. This kind of problems can be extremely difficult in real and dynamic scenarios. This paper provides a first analysis for mission planning to Unmanned Air Vehicles (UAVs), where sensors and other equipment of UAVs to perform a task are modelled based on Temporal Constraint Satisfaction Problems (TCSPs). In this model, a set of resources and temporal constraints are designed to represent the main characteristics (task time, fuel consumption, ...) of this kind of aircrafts. Using this simplified TCSP model, and a Branch and Bound (B&B) search algorithm, a set of feasible solutions will be found trying to minimize the fuel cost, flight time spent and the number of UAVs used in the mission. Finally, some experiments will be carried out to validate both the quality of the solutions found and the spent runtime to found them.

7. E.-M. Yolanda, M. D. R-Moreno, and D. Smith, “Progressive heuristic search for probabilistic planning based on interaction estimates,” Expert Systems, vol. 31, no. 5, pp. 421–436, 2014. Publisher. DOI. Abstract. BibTeX.

   @article{Smith2014,
     title = {Progressive heuristic search for probabilistic planning based on interaction estimates},
     author = {Yolanda, E-Mart{\'i}n and R-Moreno, Maria D. and Smith, David},
     journal = {Expert Systems},
     volume = {31},
     number = {5},
     pages = {421--436},
     year = {2014},
     publisher = {Wiley},
     url = {http://onlinelibrary.wiley.com/doi/10.1111/exsy.12037/abstract},
     doi = {10.1111/exsy.12037}
   }
   

   Development of real planning and scheduling applications often requires the ability to handle uncertainty. Often this uncertainty is represented using probability information on the initial conditions and on the outcomes of actions. In this paper, we describe a novel probabilistic plan graph heuristic that computes information about the interaction between actions and between propositions. This information is used to find better relaxed plans and to compute their probability of success. This information guides a forward state space search for high probability, non-branching seed plans. These plans are then used in a planning and scheduling system that handles unexpected outcomes by runtime replanning. We briefly describe the heuristic, the search process, and the results on different domains from recent international planning competitions. We discuss the results of this study and some of the issues involved in advancing this work further.

8. P. Muñoz, A. Cesta, A. Orlandini, and M. D. R-Moreno, “First Steps on an On-Ground Autonomy Test Environment,” in Procs. of the 5th International IEEE Conference on Space Mission Challenges for Information Technology (SMC-IT 2014), Maryland, USA, 2014. Publisher. Abstract. BibTeX.

   @inproceedings{Munoz2014smcit,
     author = {Muñoz, Pablo and Cesta, Amedeo and Orlandini, Andrea and R-Moreno, Maria D.},
     title = {First Steps on an On-Ground Autonomy Test Environment},
     booktitle = {Procs. of the 5th International IEEE Conference on Space Mission
         Challenges for Information Technology (SMC-IT 2014)},
     year = {2014},
     address = {Maryland, USA},
     month = sep,
     url = {http://ieeexplore.ieee.org/document/6979142/},
     webpdf = {/assets/pdfs/smcit2014.pdf}
   }
   

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   Thanks to the advances in Artificial Intelligence (AI), and in particular in automated planning & scheduling and execution, goal-oriented controllers have being developed to test degrees of autonomy for robotics systems in challenging scenarios. Despite these efforts, there is a lack of methodology for approaching the design of deliberative systems or the choice of the critical parameters or metrics under which the control systems can be compared during execution or deliberation. This paper presents the first initial results of the On-Ground Autonomy Test Environment (OGATE) over a year after its initiation. It is an ESA funded project that aims to facilitate accurate experiments on planning and execution systems for robotics. We present features of an initial instance of such system built to support the GOAC robotic software, an ESA project to demonstrate key concepts in autonomy for ESA missions.

9. D. F. Barrero, J. C. Hernández-Castro, P. Peris-Lopez, D. Camacho, and M. D. R-Moreno, “A genetic tango attack against the David-Prasad RFID ultra-lightweight authentication protocol,” Expert Systems, vol. 31, no. 1, pp. 9–19, 2014. Publisher. DOI. Abstract. BibTeX.

   @article{Barrero2014es,
     author = {Barrero, David F. and Hern\'andez-Castro, Julio C\'esar and Peris-Lopez, Pedro and Camacho, David and R-Moreno, Mar\'ia D.},
     title = {A genetic tango attack against the David-Prasad RFID ultra-lightweight authentication protocol},
     journal = {Expert Systems},
     volume = {31},
     number = {1},
     issn = {1468-0394},
     url = {http://dx.doi.org/10.1111/j.1468-0394.2012.00652.x},
     doi = {10.1111/j.1468-0394.2012.00652.x},
     pages = {9--19},
     keywords = {RFID, ultra-lightweight cryptography, genetic programming, security, tango attack},
     webpdf = {/assets/pdfs/es2012.pdf},
     dataset = {/assets/datasets/es2012.zip},
     year = {2014}
   }
   

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   → Dataset
   

   Radio frequency identification (RFID) is a powerful technology that enables wireless information storage and control in an economical way. These properties have generated a wide range of applications in different areas. Due to economic and technological constrains, RFID devices are seriously limited, having small or even tiny computational capabilities. This issue is particularly challenging from the security point of view. Security protocols in RFID environments have to deal with strong computational limitations, and classical protocols cannot be used in this context. There have been several attempts to overcome these limitations in the form of new lightweight security protocols designed to be used in very constrained (sometimes called ultra-lightweight) RFID environments. One of these proposals is the David-Prasad ultra-lightweight authentication protocol. This protocol was successfully attacked using a cryptanalysis technique named Tango attack. The capacity of the attack depends on a set of boolean approximations. In this paper, we present an enhanced version of the Tango attack, named Genetic Tango attack, that uses Genetic Programming to design those approximations, easing the generation of automatic cryptanalysis and improving its power compared to a manually designed attack. Experimental results are given to illustrate the effectiveness of this new attack.

10. Á. Cuesta, B. F. David, and R-Moreno Marı́a D., “A Framework for massive Twitter data extraction and analysis,” Malaysian Journal of Computer Science, vol. 27, no. 1, pp. 50–67, 2014. Publisher. BibTeX.

    @article{Cuesta2014,
      title = {A Framework for massive Twitter data extraction and analysis},
      author = {Cuesta, {\'A}lvaro and David, Barrero F. and R-Moreno, Mar{\'\i}a D.},
      journal = {Malaysian Journal of Computer Science},
      volume = {27},
      number = {1},
      pages = {50--67},
      webpdf = {http://ejum.fsktm.um.edu.my/article/1472.pdf},
      url = {http://mjcs.fsktm.um.edu.my/detail.asp?AID=1472},
      year = {2014}
    }
    

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11. M. D. R-Moreno, B. Castaño, D. F. Barrero, and A. M. Hellín, “Efficient Services Management in Libraries using AI and Wireless techniques,” Expert Systems with Applications, vol. 41, no. 17, pp. 7904–7913, 2014. Publisher. DOI. BibTeX.

    @article{R-Moreno2014eswa,
      title = {{Efficient Services Management in Libraries using AI and Wireless techniques}},
      journal = {{Expert Systems with Applications}},
      volume = {41},
      number = {17},
      pages = {7904 - 7913},
      year = {2014},
      issn = {0957-4174},
      doi = {http://dx.doi.org/10.1016/j.eswa.2014.06.047},
      url = {http://www.sciencedirect.com/science/article/pii/S0957417414004035},
      author = {R-Moreno, Mar\'ia D. and Casta\~no, Bonifacio and Barrero, David F. and Hell\'in, Agust\'in M.}
    }
    

12. J. I. Criado and D. F. Barrero, “Measuring E-government Efficiency. The Opinions of Public Administrators and Other Stakeholders,” M. P. Rodríguez-Bolívar, Ed. Springer-Verlag, 2014, pp. 213–232. Publisher. BibTeX.

    @inbook{Criado2014,
      chapter = {{Digital Divide and the Study of Electronic Government Demand. An Empirical Analysis of Spain}},
      pages = {213-232},
      title = {{Measuring E-government Efficiency. The Opinions of Public Administrators and Other Stakeholders}},
      publisher = {Springer-Verlag},
      year = {2014},
      editor = {Rodr\'iguez-Bol\'ivar, Manuel Pedro},
      author = {Criado, J. Ignacio and Barrero, David F.},
      url = {http://www.springer.com/us/book/9781461499817}
    }
    

2013

1. P. Muñoz, D. F. Barrero, and M. D. R-Moreno, “Statistic Methods for Path-Planning Algorithms Comparison,” KI - Künstliche Intelligenz, vol. 27, no. 3, pp. 201–211, 2013. Publisher. DOI. Abstract. BibTeX.

   @article{Munoz2013ki,
     year = {2013},
     issn = {0933-1875},
     journal = {KI - K\"unstliche Intelligenz},
     volume = {27},
     number = {3},
     doi = {10.1007/s13218-013-0257-0},
     title = {Statistic Methods for Path-Planning Algorithms Comparison},
     url = {http://dx.doi.org/10.1007/s13218-013-0257-0},
     publisher = {Springer Berlin Heidelberg},
     keywords = {Path-planning; Run-time analysis; Robotics; Planetary exploration},
     author = {Mu\~{n}oz, Pablo and Barrero, David F. and R-Moreno, Mar\'ia D.},
     pages = {201-211}
   }
   

   The path-planning problem for autonomous mobile robots has been addressed by classical search techniques such as A* or, more recently, Theta* or S-Theta*. However, research usually focuses on reducing the length of the path or the processing time. The common practice in the literature is to report the run-time/length of the algorithm with means and, sometimes, some dispersion measure. However, this practice has several drawbacks, mainly due to the loose of valuable information that this reporting practice involves such as asymmetries in the run-time, or the shape of its distribution. Run-time analysis is a type of empirical tool that studies the time consumed by running an algorithm. This paper is an attempt to bring this tool to the path-planning community. To this end the paper reports an analysis of the run-time of the path-planning algorithms with a variety of problems of different degrees of complexity, indoors, outdoors and Mars surfaces. We conclude that the time required by these algorithms follows a lognormal distribution.

2. P. Muñoz and M. D. R-Moreno, “Cooperative Systems in Mission Planning,” in Procs. of the 12th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, The Netherlands, 2013. BibTeX.

   @inproceedings{Munoz2013astra,
     author = {Muñoz, Pablo and R-Moreno, Maria D.},
     title = {Cooperative Systems in Mission Planning},
     booktitle = {Procs. of the 12th ESA Workshop on Advanced Space Technologies for
          Robotics and Automation},
     year = {2013},
     address = {Noordwijk, The Netherlands},
     month = may,
     webpdf = {/assets/pdfs/astra2013.pdf}
   }
   

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3. P. Muñoz and M. D. R-Moreno, “Deliberative Systems for Autonomous Robotics: A Brief Comparison Between Action-oriented and Timelines-based Approaches,” in Procs. of the 1st Workshop on Planning and Robotics (ICAPS 2013), Rome, Italy, 2013. BibTeX.

   @inproceedings{Munoz2013icapsa,
     author = {Muñoz, Pablo and R-Moreno, Maria D.},
     title = {Deliberative Systems for Autonomous Robotics: A Brief Comparison
          Between Action-oriented and Timelines-based Approaches},
     booktitle = {Procs. of the 1st Workshop on Planning and Robotics (ICAPS 2013)},
     year = {2013},
     address = {Rome, Italy},
     month = jun,
     slides = {http://icaps13.icaps-conference.org/wp-content/uploads/2012/11/day-1-006-PlanRob-ICAPS-Munoz.pdf},
     webpdf = {/assets/pdfs/icaps2013.pdf}
   }
   

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4. P. Muñoz and M. D. R-Moreno, “Model-Based Architecture on the ESA 3DROV Simulator,” in Procs. of the 23rd ICAPS Application Showcase (ICAPS 2013), Rome, Italy, 2013. BibTeX.

   @inproceedings{Munoz2013icapsb,
     author = {Muñoz, Pablo and R-Moreno, Maria D.},
     title = {{M}odel-{B}ased {A}rchitecture on the {ESA} {3DROV} Simulator},
     booktitle = {Procs. of the 23rd ICAPS Application Showcase (ICAPS 2013)},
     year = {2013},
     address = {Rome, Italy},
     month = jun
   }
   

5. P. Muñoz, A. Cesta, A. Orlandini, and M. D. R-Moreno, “Toward a Test Environment for Autonomous Controllers,” in 5th Italian Workshop on Planning and Scheduling, Turin, Italy, 2013, pp. 3–10. Publisher. Abstract. BibTeX.

   @inproceedings{Munoz2013towards,
     author = {Muñoz, Pablo and Cesta, Amedeo and Orlandini, Andrea and R-Moreno, María D.},
     title = {Toward a Test Environment for Autonomous Controllers},
     booktitle = {5th Italian Workshop on Planning and Scheduling},
     year = {2013},
     address = {Turin, Italy},
     month = dec,
     pages = {3-10},
     url = {http://puma.isti.cnr.it/dfdownloadnew.php?ident=/cnr.istc/2013-B2-001\&langver=en\&scelta=NewMetadata},
     webpdf = {/assets/pdfs/ips2013.pdf}
   }
   

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   In the last two decades, an increasing attention has been dedicated on the use of high level task planning in robotic control, aiming to deploy advanced robotics systems in challenging scenarios where a high autonomy degree is required. Nevertheless, an interesting open problem in the literature is the lack of a well defined methodology for approaching the design of deliberative systems and for fairly comparing different approaches to deliberation. This paper presents the general idea of an environment for facilitating knowledge engineering for autonomy and in particular to facilitate accurate experiments on planning and execution systems for robotics. It discusses features of the On-Ground Autonomy Test Environment (OGATE), a general testbench for interfacing deliberative modules. In particular we present features of an initial instance of such system built to support the GOAC robotic software.

6. D. Diaz, A. Cesta, A. Oddi, R. Rasconi, and M. D. R-Moreno, “Autonomous Energy Management as a High Level Reasoning for Planetary Rover Problems,” in 5th Italian Workshop on Planning and Scheduling (IPS 2013), Turin, Italy, 2013. BibTeX.

   @inproceedings{Diaz2013ips,
     title = {Autonomous Energy Management as a High Level Reasoning for Planetary Rover Problems},
     author = {Diaz, D and Cesta, A and Oddi, A and Rasconi, R and R-Moreno, MD},
     booktitle = {5th Italian Workshop on Planning and Scheduling (IPS 2013)},
     address = {Turin, Italy},
     year = {2013},
     webpdf = {/assets/pdfs/ips2013energy.pdf}
   }
   

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7. D. Diaz, M. D. R-Moreno, A. Cesta, A. Oddi, and R. Rasconi, “An Empirical Experience with 3DROV Simulator: Testing an Advanced Autonomous Controller for Rover Operations,” in Procs. of the 12th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2013), Noordwijk, The Netherlands, 2013. BibTeX.

   @inproceedings{Diaz2013astra,
     title = {An Empirical Experience with {3DROV} Simulator: Testing an Advanced Autonomous Controller for Rover Operations},
     author = {Diaz, D and R-Moreno, M. D. and Cesta, A and Oddi, A and Rasconi, R},
     booktitle = {Procs. of the 12th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2013)},
     address = {Noordwijk, The Netherlands},
     month = may,
     year = {2013},
     webpdf = {/assets/pdfs/astra20133drov.pdf}
   }
   

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8. D. Diaz, A. Cesta, A. Oddi, R. Rasconi, and M. D. R-Moreno, “Efficient Energy Management for Autonomous Control in Rover Missions,” IEEE Computational Intelligence Magazine, vol. 8, no. 4, pp. 12–24, Nov. 2013. Publisher. DOI. Abstract. BibTeX.

   @article{Diaz2013cim,
     author = {Diaz, D. and Cesta, A. and Oddi, A. and Rasconi, R. and R-Moreno, M. D.},
     journal = {IEEE Computational Intelligence Magazine},
     title = {Efficient Energy Management for Autonomous Control in Rover Missions},
     year = {2013},
     volume = {8},
     number = {4},
     pages = {12-24},
     keywords = {Mars;decision making;energy management systems;optimisation;planetary rovers;scheduling;AI scheduling techniques;ESA 3DROV simulator;MSR-inspired scheduling problem;Mars sample return mission concept;PARC-MRS;advanced autonomous reasoning capabilities;autonomous control;benchmark instance generator;complete command plans;complex temporal constraints;constraint-based reasoner;energy management;feasibility criteria;integrated power-aware decision-making strategy;makespan optimization criteria;mission requirements;planetary rover concept;power aware resource constrained Mars rover scheduling;resource constraints;rover missions;Artificial intelligence;Computational modeling;Energy efficiency;Energy management;Mars;Navigation;Space vehicles},
     doi = {10.1109/MCI.2013.2279558},
     url = {http://ieeexplore.ieee.org/document/6633062/},
     issn = {1556-603X},
     month = nov
   }
   

   This paper presents recent results on applying advanced autonomous reasoning capabilities for a planetary rover concept for synthesizing complete command plans that involve a wide assortment of mission requirements. Our solution exploits AI scheduling techniques to manage complex temporal and resource constraints within an integrated power-aware decision-making strategy. The main contributions of this work are the following: (i) we propose a model of the world inspired by the Mars Sample Return (MSR) mission concept, a long-range planetary exploration scenario; (ii) we introduce a MSR-inspired scheduling problem called Power Aware Resource Constrained Mars Rover Scheduling (PARC-MRS), and we present an extension of a well-known constraint-based, resource-driven reasoner that returns rover activity plans as solutions of the PARC-MRS; (iii) we present a benchmark instance generator used to create reproducible PARC-MRS problem sets on the basis of the rover models’ specifications contained within the ESA’s 3DROV simulator; finally, (iv) we conduct an exhaustive experimentation to report the quality of the generated solutions according to both feasibility and makespan optimization criteria.

9. R-Moreno Marı́a D., Á. Cuesta, and D. F. Barrero, “Twitter stream analysis in Spanish,” in Proceedings of the 3rd International Conference on Web Intelligence, Mining and Semantics (WIMS 2013), Madrid, Spain, 2013, pp. 34:1–34:6. Publisher. DOI. BibTeX.

   @inproceedings{R-Moreno2013wims,
     author = {R-Moreno, Mar\'{\i}a D. and Cuesta, \'{A}lvaro and Barrero, David F.},
     title = {Twitter stream analysis in Spanish},
     booktitle = {Proceedings of the 3rd International Conference on Web Intelligence, Mining and Semantics (WIMS 2013)},
     series = {WIMS '13},
     year = {2013},
     isbn = {978-1-4503-1850-1},
     location = {Madrid, Spain},
     pages = {34:1--34:6},
     articleno = {34},
     numpages = {6},
     url = {https://dl.acm.org/citation.cfm?id=2479819},
     doi = {10.1145/2479787.2479819},
     acmid = {2479819},
     publisher = {ACM},
     address = {Madrid, Spain},
     webpdf = {/assets/pdfs/wims2013.pdf},
     keywords = {Twitter, sentiment analysis, social networks, stream analysis, tweets}
   }
   

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10. D. F. Barrero, M. R. R-Moreno, B. Castano, and D. Camacho, “Effects of the Lack of Selective Pressure on the Expected Run-Time Distribution in Genetic Programming,” in 2013 IEEE Congress on Evolutionary Computation (CEC 2013), Cancún, México, 2013, vol. 1, pp. 1748–1755. Publisher. Abstract. BibTeX.

    @inproceedings{Barrero2013cec,
      author = {Barrero, David F. and R-Moreno, Mar\'ia R. and Castano, Bonifacio and Camacho, David},
      booktitle = {2013 IEEE Congress on Evolutionary Computation (CEC 2013)},
      organization = {IEEE Computational Intelligence Society},
      pages = {1748-1755},
      publisher = {},
      series = {},
      title = {{Effects of the Lack of Selective Pressure on the Expected Run-Time Distribution in Genetic Programming}},
      volume = {1},
      month = {20-23 Junio},
      location = {Canc\'un, M\'exico},
      address = {Canc\'un, M\'exico},
      webpdf = {/assets/pdfs/cec2013.pdf},
      dataset = {/assets/datasets/cec2013.zip},
      url = {http://ieeexplore.ieee.org/document/6557772/},
      year = {2013}
    }
    

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    → Dataset
    

    Run-time analysis is a powerful tool to analyze algorithms. It is focused on studying the time required by an algorithm to find a solution, the expected run-time, which is one of the most relevant algorithm attributes. Previous research has associated the expected run-time in GP with the lognormal distribution. In this paper we provide additional evidence in that regard and show how the algorithm parametrization may change the resulting run-time distribution. In particular, we explore the influence of the selective pressure on the run-time distribution in tree-based GP, finding that, at least in two problem instances, the lack of selective pressure generates an expected run-time distribution well described by the Weibull probability distribution.

11. H. Menéndez, D. F. Barrero, and D. Camacho, “A Multi-Objective Genetic Graph-based Clustering Algorithm with Memory Optimization,” in 2013 IEEE Congress on Evolutionary Computation (CEC 2013), Cancún, México, 2013, vol. 1, pp. 3174–3181. Publisher. Abstract. BibTeX.

    @inproceedings{cec2013b,
      author = {Men\'endez, H\'ector and Barrero, David F. and Camacho, David},
      booktitle = {2013 IEEE Congress on Evolutionary Computation (CEC 2013)},
      organization = {IEEE Computational Intelligence Society},
      pages = {3174-3181},
      publisher = {},
      series = {},
      title = {A Multi-Objective Genetic Graph-based Clustering Algorithm with Memory Optimization},
      volume = {1},
      month = {20-23 Junio},
      location = {Canc\'un, M\'exico},
      address = {Canc\'un, M\'exico},
      year = {2013},
      url = {http://ieeexplore.ieee.org/document/6557958/}
    }
    

    Clustering is one of the most versatile tools for data analysis. Over the last few years, clustering that seeks the continuity of data (in opposition to classical centroid-based approaches) has attracted an increasing research interest. It is a challenging problem with a remarkable practical interest. The most popular continuity clustering method is the Spectral Clustering algorithm, which is based on graph cut: it initially generates a Similarity Graph using a distance measure and then uses its Graph Spectrum to find the best cut. Memory consuption is a serious limitation in that algorithm: The Similarity Graph representation usually requires a very large matrix with a high memory cost. This work proposes a new algorithm, based on a previous implementation named Genetic Graph-based Clustering (GGC), that improves the memory usage while maintaining the quality of the solution. The new algorithm, called Multi-Objective Genetic Graph-based Clustering (MOGGC), uses an evolutionary approach introducing a Multi-Objective Genetic Algorithm to manage a reduced version of the Similarity Graph. The experimental validation shows that MOGGC increases the memory efficiency, maintaining and improving the GGC results in the synthetic and real datasets used in the experiments. An experimental comparison with several classical clustering methods (EM, SC and K-means) has been included to show the efficiency of the proposed algorithm.

12. A. Stoica, D. F. Barrero, and K. McDonald-Maier, “Improved Targeting though Collaborative Decision-Making and Brain Computer Interfaces,” in 2013 4th International Conference on Collaboration Technologies and Systems (CTS 2013), San Diego, CA, USA, 2013, pp. 435–442. Publisher. Abstract. BibTeX.

    @inproceedings{Stoica2013ctsa,
      author = {Stoica, A. and Barrero, David F. and McDonald-Maier, Klaus},
      booktitle = {2013 4th International Conference on Collaboration Technologies and Systems (CTS 2013)},
      organization = {2013 International Conference on Collaboration Technologies and Systems (CTS 2013)},
      month = {20-24 Mayo},
      pages = {435-442},
      publisher = {IEEE},
      series = {},
      title = {Improved Targeting though Collaborative Decision-Making and Brain Computer Interfaces},
      volume = {},
      location = {San Diego, CA, USA},
      address = {San Diego, CA, USA},
      year = {2013},
      url = {https://ntrs.nasa.gov/search.jsp?R=20150007483}
    }
    

    This paper reports a first step toward a brain-computer interface (BCI) for collaborative targeting. Specifically, we explore, from a broad perspective, how the collaboration of a group of people can increase the performance on a simple target identification task. To this end, we requested a group of people to identify the location and color of a sequence of targets appearing on the screen, and measured the time and the accuracy of the response. The individual results are compared to a collective identification result determined by simple majority voting, with random choice in case of drawn. The results are promising, as the identification becomes significantly more reliable even with this simple voting, and with a small number of people (either odd or even) involved in the decision. In addition, the paper briefly analyzes the role of brain-computer interfaces in collaborative targeting, extending the targeting task by using a BCI instead of a mechanical response.

13. A. Stoica, T. Theodoridis, H. Hu, K. McDonald-Maier, and D. F. Barrero, “Towards Human-Friendly Efficient Control of Multi-Robot Teams,” in 2013 4th International Workshop on Collaborative Robots and Human Robot Interaction (CTS 2013), San Diego, CA, USA, 2013, pp. 226–231. Publisher. Abstract. BibTeX.

    @inproceedings{Stoica2013ctsb,
      author = {Stoica, A. and Theodoridis, Theo and Hu, Housheng and McDonald-Maier, Klaus and Barrero, David F.},
      booktitle = {2013 4th International Workshop on Collaborative Robots and Human Robot Interaction (CTS 2013)},
      month = {20-24 Mayo},
      pages = {226-231},
      publisher = {IEEE},
      series = {},
      tipo = {Presentaci\'on},
      title = {Towards Human-Friendly Efficient Control of Multi-Robot Teams},
      volume = {},
      location = {San Diego, CA, USA},
      address = {San Diego, CA, USA},
      year = {2013},
      url = {https://ntrs.nasa.gov/search.jsp?R=20150007482&hterms=barrero&qs=N%3D0%26Ntk%3DAll%26Ntt%3Dbarrero%26Ntx%3Dmode%2520matchallpartial}
    }
    

    This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots’ autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

2012

1. P. Muñoz, M. D. R-Moreno, A. Martínez, and B. Castaño, “Fast Path-Planning Algorithms for Future Mars Exploration,” in International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), Turin, Italy, 2012. BibTeX.

   @inproceedings{Munoz2012astra,
     author = {Muñoz, Pablo and R-Moreno, María D. and Martínez, Agustin and Castaño, Bonifacio},
     title = {Fast Path-Planning Algorithms for Future {M}ars Exploration},
     booktitle = {International Symposium on Artificial Intelligence, Robotics and
         Automation in Space (i-SAIRAS 2012)},
     year = {2012},
     address = {Turin, Italy},
     month = sep,
     webpdf = {/assets/pdfs/sairas2012.pdf}
   }
   

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2. P. Muñoz and M. D. R-Moreno, “S-Theta*: Low Steering Path-Planning Algorithm,” in Procs. of the 32nd SGAI International Conference on Artificial Intelligence, Cambridge, UK, 2012, pp. 109–121. Publisher. Abstract. BibTeX.

   @inproceedings{Munoz2012sgaib,
     author = {Muñoz, Pablo and R-Moreno, María D.},
     title = {{S-Theta*}: Low Steering Path-Planning Algorithm},
     booktitle = {Procs. of the 32nd SGAI International Conference on Artificial Intelligence},
     year = {2012},
     pages = {109-121},
     address = {Cambridge, UK},
     month = dec,
     url = {https://link.springer.com/chapter/10.1007/978-1-4471-4739-8_8},
     webpdf = {/assets/pdfs/sgai2012stheta.pdf}
   }
   

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   The path-planning problem for autonomous mobile robots has been addressed by classical search techniques such as A* or, more recently, Theta*. However, research usually focuses on reducing the length of the path or the processing time. Applying these advances to autonomous robots may result in the obtained “short” routes being less suitable for the robot locomotion subsystem. That is, in some types of exploration robots, the heading changes can be very costly (i.e. consume a lot of battery) and therefore may be beneficial to slightly increase the length of the path and decrease the number of turns (and thus reduce the battery consumption). In this paper we present a path-planning algorithm called S-Theta* that smoothes the turns of the path. This algorithm significantly reduces the heading changes, in both, indoors and outdoors problems as results show, making the algorithm especially suitable for robots whose ability to turn is limited or the associated cost is high.

3. P. Muñoz and M. D. R-Moreno, “Improving Efficiency in Any-Angle Path-Planning Algorithms,” in Procs. of the 6th IEEE International Conference on Intelligent Systems (IS 2012), Sofia, Bulgaria, 2012, pp. 213–218. Publisher. BibTeX.

   @inproceedings{Munoz2012is,
     author = {Muñoz, Pablo and R-Moreno, María D.},
     title = {Improving Efficiency in Any-Angle Path-Planning Algorithms},
     booktitle = {Procs. of the 6th IEEE International Conference on Intelligent Systems (IS 2012)},
     year = {2012},
     pages = {213-218},
     address = {Sofia, Bulgaria},
     month = sep,
     url = {http://ieeexplore.ieee.org/document/6335138/},
     webpdf = {/assets/pdfs/is2012.pdf}
   }
   

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4. P. Muñoz, D. F. Barrero, and M. D. R-Moreno, “Run-Time Analysis of Classical Path-Planning Algorithms,” in Procs. of the Thirty-second SGAI International Conference on Artificial Intelligence (SGAI 2012), M. Bramer and M. Petridis, Eds. Springer London, 2012, pp. 137–148. Publisher. Abstract. BibTeX.

   @incollection{Munoz2012sgaic,
     year = {2012},
     isbn = {978-1-4471-4738-1},
     booktitle = {Procs. of the Thirty-second SGAI International Conference on Artificial Intelligence (SGAI 2012)},
     editor = {Bramer, Max and Petridis, Miltos},
     title = {Run-Time Analysis of Classical Path-Planning Algorithms},
     publisher = {Springer London},
     author = {Mu\~noz, Pablo and Barrero, David F. and R-Moreno, Mar\'ia D.},
     url = {http://link.springer.com/chapter/10.1007/978-1-4471-4739-8_10},
     webpdf = {/assets/pdfs/sgai2012.pdf},
     pages = {137-148}
   }
   

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   Run-time analysis is a type of empirical tool that studies the time consumed by running an algorithm. This type of analysis has been successfully used in some Artificial Intelligence (AI) fields, in paticular in Metaheuristics. This paper is an attempt to bring this tool to the path-planning community. In particular, we analyse the statistical properties of the run-time of the A*, Theta* and S-Theta* algorithms with a variety of problems of different degrees of complexity. Traditionally, the path-planning literature has compared run-times just comparing their mean values. This practice, which unfortunately is quite common in the literature, raises serious concerns from a methodological and statistical point of view. Simple mean comparison provides poorly supported conclusions, and, in general, it can be said that this practice should be avoided. After our analysis, we conclude that the time required by these three algorithms follows a lognormal distribution. In low complexity problems, the lognormal distribution looses some accuracy to describe the algorithm run-times. The lognormality of the run-times opens the use of powerful parametric statistics to compare execution times, which could lead to stronger empirical methods.

5. G. B. Orgaz, R-Moreno Marı́a D., D. Camacho, and D. F. Barrero, “Clustering avatars behaviours from virtual worlds interactions,” in Proceedings of the 4th International Workshop on Web Intelligence & Communities (WIC 2012), Lyon, France, 2012, pp. 4:1–4:7. Publisher. DOI. BibTeX.

   @inproceedings{Orgaz2012wic,
     author = {Orgaz, Gema Bello and R-Moreno, Mar\'{\i}a D. and Camacho, David and Barrero, David F.},
     title = {Clustering avatars behaviours from virtual worlds interactions},
     booktitle = {Proceedings of the 4th International Workshop on Web Intelligence \& Communities (WIC 2012)},
     organization = {WI\&C '12},
     year = {2012},
     isbn = {978-1-4503-1189-2},
     address = {Lyon, France},
     pages = {4:1--4:7},
     articleno = {4},
     numpages = {7},
     url = {http://doi.acm.org/10.1145/2189736.2189743},
     doi = {10.1145/2189736.2189743},
     acmid = {2189743},
     publisher = {ACM},
     webpdf = {/assets/pdfs/wic2012-vw.pdf},
     keywords = {behavioral patterns, clustering techniques, data processing, graph and overlapping clustering, hierarchical clustering, virtual worlds}
   }
   

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6. D. F. Barrero, M. D. R-Moreno, and D. Camacho, “Adapting Searchy to extract data using evolved wrappers,” Expert Systems with Applications, vol. 39, no. 3, pp. 3061–3070, 2012. Publisher. DOI. BibTeX.

   @article{Barrero2012eswa,
     title = {Adapting Searchy to extract data using evolved wrappers},
     journal = {Expert Systems with Applications},
     volume = {39},
     number = {3},
     pages = {3061 - 3070},
     year = {2012},
     note = {},
     issn = {0957-4174},
     doi = {10.1016/j.eswa.2011.08.168},
     url = {http://www.sciencedirect.com/science/article/pii/S0957417411012991},
     author = {Barrero, David F. and R-Moreno, Mar\'ia D. and Camacho, David},
     impacto = {1.924 (33/108: Comp. Science \& Art. Int.; 48/247: Operations Research \& Management Science; 15/74: Engineering, Electrical \& Electronic) (2010)},
     keywords = {Information extraction}
   }
   

7. D. Diaz, M. D. R-Moreno, A. Cesta, A. Oddi, and R. Rasconi, “An integrated Constraint-based, power Aware control system for Autonomous rover Mission operations,” in Procs. of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS’12), Turin, Italy, 2012. BibTeX.

   @inproceedings{Diaz2012sairas,
     author = {Diaz, D. and R-Moreno, M. D. and Cesta, A. and Oddi, A. and Rasconi, R.},
     title = {An integrated Constraint-based, power Aware control system for Autonomous rover Mission operations},
     booktitle = {Procs. of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS'12)},
     year = {2012},
     address = {Turin, Italy},
     month = sep,
     webpdf = {/assets/pdfs/sairas2012integrated.pdf}
   }
   

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2011

1. P. Muñoz, M. D. R-Moreno, and A. Martínez, “A First Approach for the Autonomy of the Exomars Rover Using a 3-Tier Architecture,” in Procs. of the 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2011), Noordwijk, The Netherlands, 2011. BibTeX.

   @inproceedings{Munoz2011astra,
     author = {Muñoz, Pablo and R-Moreno, María D. and Martínez, Agustin},
     title = {A First Approach for the Autonomy of the {E}xomars Rover Using a
             3-{T}ier Architecture},
     booktitle = {Procs. of the 11th ESA Workshop on Advanced Space Technologies for
             Robotics and Automation (ASTRA 2011)},
     year = {2011},
     address = {Noordwijk, The Netherlands},
     month = apr,
     webpdf = {/assets/pdfs/astra2011.pdf}
   }
   

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2. P. Muñoz, M. D. R-Moreno, P. Gallego, and B. Castaño, “A Cognitive Architecture and Simulation Environment for the PTinto Robot,” in Procs. of the IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011), Palo Alto, CA, USA, 2011, pp. 129–136. Publisher. Abstract. BibTeX.

   @inproceedings{Munoz2011smcit,
     author = {Muñoz, Pablo and R-Moreno, María D. and Gallego, Pablo and Castaño, Bonifacio},
     title = {A Cognitive Architecture and Simulation Environment for the {PT}into
         Robot},
     booktitle = {Procs. of the IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011)},
     year = {2011},
     pages = {129-136},
     address = {Palo Alto, CA, USA},
     month = aug,
     url = {http://ieeexplore.ieee.org/document/6007784/},
     webpdf = {/assets/pdfs/smcit2011.pdf}
   }
   

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   In this article we present a cognitive architecture and we describe some algorithms for simulating the movement of an hexapod robot (a six legs spider) who has been designed and built at the Astrobiology Center (CAB) in Madrid (Spain). The robot is called Ptinto and it was created with the purpose of exploring the Tinto river and the surrounding areas. The cognitive control architecture aims to control Ptinto in order to autonomously explore the environment. The architecture is structured as a three layer system, using a planning and scheduling component with long-term memory and basic learning possibilities, and an executor that implements some reactive behavior. The simulation suite is specifically adapted to the geometric features and dynamics of this particular robot. It includes both a standalone simulation test-bench (for kinematics designs) and an environment to interact with the control architecture.

3. M. D. R-Moreno, D. Camacho, D. F. Barrero, and B. Castaño, “Human Drivers Knowledge Integration in a Logistics Decision Support Tool,” in Intelligent Distributed Computing (IDC 2011), Ámsterdam, Países Bajos, 2011, vol. 382, pp. 227–236. Publisher. BibTeX.

   @inproceedings{Moreno2011idc,
     author = {R-Moreno, Mar\'ia Dolores and Camacho, David and Barrero, David F. and Casta{\~n}o, Bonifacio},
     booktitle = {Intelligent Distributed Computing (IDC 2011)},
     crossref = {conf/idc/2011},
     editor = {Brazier, Frances M. T. and Nieuwenhuis, Kees and Pavlin, Gregor and Warnier, Martijn and Badica, Costin},
     isbn = {978-3-642-24012-6},
     pages = {227-236},
     publisher = {Springer-Verlag},
     organization = {{IDC 2011}},
     address = {\'Amsterdam, Pa\'ises Bajos},
     series = {Studies in Computational Intelligence},
     title = {{Human Drivers Knowledge Integration in a Logistics Decision Support Tool}},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-24013-3_23},
     webpdf = {/assets/pdfs/idc2011.pdf},
     volume = {382},
     year = {2011}
   }
   

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4. D. F. Barrero, M. R-Moreno, B. Castano, and D. Camacho, “An Empirical Study on the Accuracy of Computational Effort in Genetic Programming,” in Proceedings of the 2011 IEEE Congress on Evolutionary Computation (CEC 2011), New Orleans, LA, USA, 2011, pp. 1169–1176. Publisher. Abstract. BibTeX.

   @inproceedings{Barrero2011cec,
     title = {{An Empirical Study on the Accuracy of  Computational Effort in Genetic Programming}},
     author = {Barrero, David F. and R-Moreno, Maria and Castano, Bonifacio and Camacho, David},
     pages = {1169--1176},
     booktitle = {Proceedings of the 2011 IEEE Congress on Evolutionary Computation (CEC 2011)},
     year = {2011},
     editor = {Smith, Alice E.},
     month = {5-8 June},
     address = {New Orleans, LA, USA},
     organization = {IEEE CEC 2011},
     publisher = {IEEE Press},
     isbn = {0-7803-8515-2},
     keywords = {Genetic programming},
     dataset = {/assets/datasets/cec2011.zip},
     webpdf = {/assets/pdfs/cec2011.pdf},
     slides = {https://www.slideshare.net/secret/G8W30rNLp2M5hl},
     url = {http://ieeexplore.ieee.org/document/5949748/}
   }
   

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   → Dataset
   → Slides
   

   Some commonly used performance measures in Genetic Programming are those defined by John Koza in his first book. These measures, mainly computational effort and number of individuals to be processed, estimate the performance of the algorithm as well as the difficulty of a problem. Although Koza’s performance measures have been widely used in the literature, their behaviour is not well known. In this paper we study the accuracy of these measures and advance in the understanding of the factors that influence them. In order to achieve this goal, we report an empirical study that attempts to systematically measure the effects of two variability sources in the estimation of the number of individuals to be processed and the computational effort. The results obtained in those experiments suggests that these measures, in common experimental setups, and under certain circumstances, might have a high relative error.

5. D. F. Barrero, B. Castaño, M. D. R-Moreno, and D. Camacho, “Statistical Distribution of Generation-to-Success in GP: Application to Model Accumulated Success Probability,” in Proceedings of the 14th European Conference on Genetic Programming (EuroGP 2011), Turín, Italy, 2011, vol. 6621, pp. 155–166. Publisher. Abstract. BibTeX.

   @inproceedings{eurogp2011,
     author = {Barrero, David F. and Casta\~no, Bonifacio and R-Moreno, Maria D. and Camacho, David},
     title = {{Statistical Distribution of Generation-to-Success in GP: Application to Model Accumulated Success Probability}},
     booktitle = {Proceedings of the 14th European Conference on Genetic Programming (EuroGP 2011)},
     year = {2011},
     month = "27-29 " # apr,
     editor = {Silva, Sara and Foster, James A. and Nicolau, Miguel and Giacobini, Mario and Machado, Penousal},
     series = {LNCS},
     volume = {6621},
     publisher = {Springer-Verlag},
     address = {Tur\'in, Italy},
     pages = {155--166},
     organization = {EuroGP 2011},
     keywords = {genetic algorithms, genetic programming},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-20407-4_14},
     notes = {Part of \cite{Silva:2011:GP} EuroGP'2011 held in conjunction with EvoCOP2011 EvoBIO2011 and EvoApplications2011},
     dataset = {/assets/datasets/eurogp2011.zip},
     slides = {https://www.slideshare.net/secret/4B6VxX6SxImnYi},
     webpdf = {/assets/pdfs/eurogp2011.pdf}
   }
   

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   → Dataset
   → Slides
   

   Many different metrics have been defined in Genetic Programming. Depending on the experiment requirements and objectives, a collection of measures are selected in order to achieve an understanding of the algorithm behaviour. One of the most common metrics is the accumulated success probability, which evaluates the probability of an algorithm to achieve a solution in a certain generation. We propose a model of accumulated success probability composed by two parts, a binomial distribution that models the total number of success, and a lognormal approximation to the generation-to-success, that models the variation of the success probability with the generation.

6. Y. E-Martin, M. D. R-Moreno, and D. E. Smith, “Using a Plan Graph with Interaction Estimates for Probabilistic Planning,” in Thirty-first SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2011), M. Bramer, M. Petridis, and L. Nolle, Eds. Cambridge, UK: Springer, 2011, pp. 49–62. Publisher. DOI. Abstract. BibTeX.

   @inbook{E-Martin2011sgai,
     author = {E-Martin, Yolanda and R-Moreno, Mar{\'i}a D. and Smith, David E.},
     editor = {Bramer, Max and Petridis, Miltos and Nolle, Lars},
     title = {Using a Plan Graph with Interaction Estimates for Probabilistic Planning},
     booktitle = {Thirty-first SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2011)},
     year = {2011},
     publisher = {Springer},
     address = {Cambridge, UK},
     pages = {49--62},
     isbn = {978-1-4471-2318-7},
     doi = {10.1007/978-1-4471-2318-7_4},
     url = {https://link.springer.com/chapter/10.1007/978-1-4471-2318-7_4},
     webpdf = {/assets/pdfs/sgai2011.pdf}
   }
   

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   Many planning and scheduling applications require the ability to deal with uncertainty. Often this uncertainty can be characterized in terms of probability distributions on the initial conditions and on the outcomes of actions. These distributions can be used to guide a planner towards the most likely plan for achieving the goals. This work is focused on developing domain-independent heuristics for probabilistic planning based on this information. The approach is to first search for a low cost deterministic plan using a classical planner. A novel plan graph cost heuristic is used to guide the search towards high probability plans. The resulting plans can be used in a system that handles unexpected outcomes by runtime replanning. The plans can also be incrementally augmented with contingency branches for the most critical action outcomes.

7. E.-M. Yolanda, M. D. R-Moreno, and D. Smith, “Probabilistic Plan Graph Heuristic for Probabilistic Planning,” in Twenty-Fifth AAAI Conference on Artificial Intelligence (AAAI 2011), San Francisco, CA, USA, 2011. Publisher. Abstract. BibTeX.

   @inproceedings{E-Martin2011aaai,
     title = {Probabilistic Plan Graph Heuristic for Probabilistic Planning},
     author = {Yolanda, E-Martin and R-Moreno, Maria D. and Smith, David},
     booktitle = {Twenty-Fifth AAAI Conference on Artificial Intelligence (AAAI 2011)},
     address = {San Francisco, CA, USA},
     month = aug,
     year = {2011},
     webpdf = {/assets/pdfs/aaai2011.pdf},
     url = {https://www.aaai.org/ocs/index.php/AAAI/AAAI11/paper/view/3447}
   }
   

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   This work focuses on developing domain-independent heuristics for probabilistic planning problems characterized by full observability and non-deterministic effects of actions that are expressed by probability distributions. The approach is to first search for a high probability deterministic plan using a classical planner. A novel probabilistic plan graph heuristic is used to guide the search towards high probability plans. The resulting plans can be used in a system that handles unexpected outcomes by runtime replanning. The plans can also be incrementally augmented with contingency branches for the most critical action outcomes. This abstract will describe the steps that we have taken in completing the above work and the obtained results.

8. D. Diaz, M. D. R-Moreno, A. Cesta, A. Oddi, and R. Rasconi, “Toward a CSP-Based Approach for Energy Management in Rovers,” in 2011 IEEE Fourth International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011), Palo Alto, CA, USA, 2011, pp. 121–128. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Diaz2011smcit,
     author = {Diaz, D. and R-Moreno, M. D. and Cesta, A. and Oddi, A. and Rasconi, R.},
     booktitle = {2011 IEEE Fourth International Conference on Space Mission Challenges for Information Technology (SMC-IT 2011)},
     title = {Toward a CSP-Based Approach for Energy Management in Rovers},
     year = {2011},
     volume = {},
     number = {},
     pages = {121-128},
     keywords = {aerospace robotics;mobile robots;planetary rovers;planning (artificial intelligence);scheduling;AI planning;CSP-based approach;autonomous energy management;energy demand;mission exploration-related jobs;mobile space robotic domains;planetary terrain;rovers;scheduling;Artificial intelligence;Availability;Batteries;Cognition;Robots;Schedules;Space missions;Automation and Robotics;autonomous energy management;precedence constraint posting;robust constraint-based action scheduling},
     doi = {10.1109/SMC-IT.2011.24},
     issn = {},
     month = aug,
     address = {Palo Alto, CA, USA},
     webpdf = {/assets/pdfs/smcit2011towards.pdf},
     url = {http://ieeexplore.ieee.org/document/6007783/}
   }
   

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   This paper presents recent results on applying robust state-of-the-art AI Planning and Scheduling (P&S) techniques to mobile space robotic domains. We introduce an adaptation of an advanced constraint-based, resource driven reasoner for deciding feasible sequences of movements for a mobile robot in charge of executing a set of mission exploration-related jobs in a planetary terrain by reasoning upon complex temporal and resource constraints, in special energy demands. The major contribution of this paper is the inclusion of autonomous energy management capabilities within the general problem solving method.

9. D. Díaz, M. D. R-Moreno, A. Cesta, A. Oddi, and R. Rasconi, “Scheduling a Single Robot in a Job-Shop Environment through Precedence Constraint Posting,” in 24th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2011), K. G. Mehrotra, C. K. Mohan, J. C. Oh, P. K. Varshney, and M. Ali, Eds. Syracuse, NY, USA: Springer, 2011, pp. 216–225. Publisher. DOI. Abstract. BibTeX.

   @inbook{Diaz2011iea,
     author = {D{\'i}az, D. and R-Moreno, M. D. and Cesta, A. and Oddi, A. and Rasconi, R.},
     editor = {Mehrotra, Kishan G. and Mohan, Chilukuri K. and Oh, Jae C. and Varshney, Pramod K. and Ali, Moonis},
     title = {Scheduling a Single Robot in a Job-Shop Environment through Precedence Constraint Posting},
     booktitle = {24th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2011)},
     year = {2011},
     month = jun,
     publisher = {Springer},
     pages = {216--225},
     isbn = {978-3-642-21827-9},
     doi = {10.1007/978-3-642-21827-9_22},
     address = {Syracuse, NY, USA},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-21827-9_22}
   }
   

   The paper presents recent work on using robust state-of-the-art AI Planning and Scheduling (P&S) techniques to provide autonomous capabilities in a space robotic domain. We have defined a simple robotic scenario, reduced it to a known scheduling problem which is addressed here with a constraint-based, resource-driven reasoner. We present an initial experimentation that compares different meta-heuristic algorithms.

10. D. Díaz, M. D. R-Moreno, A. Cesta, A. Oddi, and R. Rasconi, “Applying AI action scheduling to ESA’s space robotics,” in Procs. of the 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA2011), Noordwijk, The Netherlands, 2011. BibTeX.

    @inproceedings{Diaz2011astra,
      author = {D{\'i}az, D. and R-Moreno, M. D. and Cesta, A. and Oddi, A. and Rasconi, R.},
      title = {Applying AI action scheduling to ESA's space robotics},
      booktitle = {Procs. of the 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA2011)},
      year = {2011},
      address = {Noordwijk, The Netherlands},
      month = apr,
      webpdf = {/assets/pdfs/astra2011applying.pdf}
    }
    

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11. Y. E-Martín, M. D. R-Moreno, and B. Castaño, “PIPSS*: A System based on Temporal Estimates,” in The Thirtieth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2010), Cambridge, UK, 2011, pp. 123–136. Publisher. DOI. Abstract. BibTeX.

    @inproceedings{E-Martin2011sgaj,
      author = {E-Mart{\'i}n, Yolanda and R-Moreno, Mar{\'i}a D. and Casta{\~{n}}o, Bonifacio},
      editor = {Bramer, Max and Petridis, Miltos and Hopgood, Adrian},
      title = {PIPSS*: A System based on Temporal Estimates},
      booktitle = {The Thirtieth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2010)},
      year = {2011},
      publisher = {Springer},
      address = {Cambridge, UK},
      pages = {123--136},
      isbn = {978-0-85729-130-1},
      doi = {10.1007/978-0-85729-130-1_9},
      url = {https://link.springer.com/chapter/10.1007\%2F978-0-85729-130-1_9},
      webpdf = {/assets/pdfs/sgai2010.pdf}
    }
    

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    AI planning and scheduling are two closely related areas. Planning provides a set of actions that achieves a set of goals, and scheduling assigns time and resources to the actions. Currently, most of the real world problems require the use of shared and limited resources with time constraints when planning. Then, systems that can integrate planning and scheduling techniques to deal with this kind of problems are needed.

12. M. Doctor, A. Moreno, P. Muñoz, D. Díaz, and M. D. R-Moreno, “Intelligent Social Networks,” in 1st International Workshop on Social Data Mining for Human Behaviour Analysis (WSD 2011), Sogndal, Norway, 2011, pp. 69:1–69:8. Publisher. DOI. Abstract. BibTeX.

    @inproceedings{Doctor2011wsd,
      author = {Doctor, Miguel and Moreno, Angel and Muñoz, Pablo and Díaz, Daniel and R-Moreno, María D.},
      title = {Intelligent Social Networks},
      booktitle = {1st International Workshop on Social Data Mining for Human Behaviour Analysis (WSD 2011)},
      pages = {69:1--69:8},
      year = {2011},
      publisher = {ACM},
      address = {Sogndal, Norway},
      month = may,
      doi = {10.1145/1988688.1988768},
      url = {https://dl.acm.org/citation.cfm?id=1988768},
      webpdf = {/assets/pdfs/wsd2011.pdf}
    }
    

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    Personal homepages, blogs or virtual communities have contributed to the birth of the Social Networks. The success of these platforms will continue to increase while they are able to offer tools and services to improve users’ social relationships. The rapid evolution of social networks, the growing business opportunities and the possibility to apply new techniques to a relatively unexplored domain, have awakened strong interest among researchers. The potential benefits have generated the need to be the first one to achieve an enough level of autonomy to provide customized services for both users and product providers. But the true revolution will arrive when social networks become "smart". To build these new intelligent systems we propose to use Artificial Intelligence techniques, more concretely plan recognition. In this paper we propose an architecture able to recognize the users intentions from partial observations of their actions. In addition, we present three scenarios where our system can be useful: Online commercial intentions, adaptive user interfaces and identity theft and extortion detection.

13. D. F. Barrero, “Reliability of Performance Measures in Tree-Based Genetic Programming: A study on Koza’s Computational Effort,” PhD thesis, Universidad de Alcalá, Alcalá de Henares, Madrid, Spain, 2011. BibTeX.

    @phdthesis{Barrero2011,
      author = {Barrero, David F.},
      title = {{Reliability of Performance Measures in Tree-Based Genetic Programming:
              A study on Koza's Computational Effort}},
      school = {Universidad de Alcalá},
      year = {2011},
      address = {Alcalá de Henares, Madrid, Spain},
      month = dec,
      webpdf = {/assets/pdfs/thesisDFBarrero.pdf},
      slides = {https://www.slideshare.net/dfbarrero/presentacin-tesis-doctoral-10969530}
    }
    

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    → Slides
    
14. M. D. R-Moreno, B. Castaño, M. Carbajo, Á. Moreno, D. F. Barrero, and P. Muñoz, “Multi-agent intelligent planning architecture for people location and orientation using RFID,” Cybernetics and Systems, vol. 42, no. 1, pp. 16–32, Jan. 2011. Publisher. Abstract. BibTeX.

    @article{R-Moreno2011cs,
      author = {R-Moreno, Mar{\'i}a D. and Casta\~{n}o, Bonifacio and Carbajo, Melquiades and Moreno, {\'A}ngel and Barrero, David F. and Mu\~{n}oz, Pablo},
      title = {{Multi-agent intelligent planning architecture for people location and orientation using RFID}},
      journal = {Cybernetics and Systems},
      year = {2011},
      volume = {42},
      number = {1},
      pages = {16-32},
      month = jan,
      impacto = {JCR 0.78 (12/19)},
      issn = {0196-9722},
      url = {http://www.tandfonline.com/doi/abs/10.1080/01969722.2011.532640},
      webpdf = {/assets/pdfs/cas2011.pdf}
    }
    

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    The new advances in information communications technology (ICT) allow expanding the electronic communication networks into an objective environment. These techniques can be used to help users who have to go to a building with several floors, corridors, and departments to get its right location and orientation. The problem gets more complicated when there are a high number of visitors with temporal constraints. Typically the lack of information and signs to guide the user complicates this task. A typical example is a hospital, where patients have scheduled doctor’s appointments and in some cases movement problems (handicaps). A possibility for solving this problem is to equip the building with an intelligent system for user detection and orientation. In this article we present a solution that uses a detection and a location system based on wireless technology and artificial intelligence techniques to plan and inform about the paths the user can follow.

2010

1. P. Muñoz, M. D. R-Moreno, and B. Castaño, “Integrating a PDDL-Based Planner and a PLEXIL-Executor into the PTinto robot,” in Procs. of the 23rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA-AIE 2010), Córdoba, Spain, 2010, pp. 72–81. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Munoz2010iea,
     author = {Muñoz, Pablo and R-Moreno, María D. and Castaño, Bonifacio},
     title = {Integrating a {PDDL}-Based Planner and a {PLEXIL}-Executor into the {PT}into robot},
     booktitle = {Procs. of the 23rd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA-AIE 2010)},
     year = {2010},
     pages = {72-81},
     address = {C{\'o}rdoba, Spain},
     month = jun,
     doi = {10.1007/978-3-642-13022-9_8},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-13022-9_8},
     webpdf = {/assets/pdfs/ieaaie2010.pdf}
   }
   

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   Ptinto is a prototype of a hexapod robot for exploration tasks in rocky and cumbersome areas. The main objective of this prototype is to design and test a complex kinematic control system, including both new hardware and software technologies. In this paper we describe the autonomous architecture that we have developed for the control of the system. We use a deliberator that must be able to make a safe trajectory between two or more points avoiding obstacles. When a trajectory has been created, the executive takes this plan to control Ptinto via the hardware abstraction layer. This is a classical 3T architecture implementation with two general purpose systems: a PDDL planner as the deliberator, and a PLEXIL executor.

2. M. D. R-Moreno, D. Camacho, D. F. Barrero, and M. Gutiérrez, “A Decision Support System for Logistics Operations,” in Proceedings of International Workshop on Soft Computing Models in Industrial Applications (SOCO 2010), Guimarães, Portugal, 2010, vol. 73, pp. 103–110. Publisher. Abstract. BibTeX.

   @inproceedings{R-Moreno2010soco,
     author = {R-Moreno, M. Dolores and Camacho, David and Barrero, David F. and Guti{\'e}rrez, Miguel},
     title = {{A Decision Support System for Logistics Operations}},
     booktitle = {Proceedings of International Workshop on Soft Computing Models in Industrial Applications (SOCO 2010)},
     year = {2010},
     volume = {73},
     pages = {103-110},
     series = {Advances in Intelligent and Soft-Computing},
     address = {Guimar{\~a}es, Portugal},
     organization = {International Workshop on Soft Computing Models in Industrial Applications (SOCO 2010)},
     publisher = {Springer-Verlag},
     month = jun,
     webpdf = {/assets/pdfs/soco2010.pdf},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-13161-5_14},
     isbn = {978-3-642-13160-8}
   }
   

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   This paper describes an Artificial Intelligence based application for a logistic company that solves the problem of grouping by zones the packages that have to be delivered and propose the routes that the drivers should follow. The tool combines from the one hand, Case-Based Reasoning techniques to separate and learn the most frequent areas or zones that the experienced logistic operators do. These techniques allow the company to separate the daily incidents that generate noise in the routes, from the decision made based on the knowledge of the route. From the other hand, we have used Evolutionary Computation to plan optimal routes from the learning areas and evaluate those routes. The application allows the users to decide under what parameters (i.e. distance, time, etc) the route should be optimized.

3. D. F. Barrero, A. González, M. D. R-Moreno, and D. Camacho, “Variable Length-Based Genetic Representation to Automatically Evolve Wrappers,” in Proceedings of 8th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2010). Special Session on Bio-Inspired and Multi-Agents Systems: Applications to Languages, Salamanca, Spain, 2010, vol. 2, pp. 371–379. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Barrero2010paamsa,
     author = {Barrero, David F. and Gonz{\'a}lez, Antonio and R-Moreno, Mar{\'i}a D. and Camacho, David},
     title = {Variable Length-Based Genetic Representation to Automatically Evolve Wrappers},
     organization = {8th International Conference on Practical Applications of Agents and Multi-Agent Systems 2010 (PAAMS 2010)},
     booktitle = {Proceedings of 8th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2010). Special Session on Bio-Inspired and Multi-Agents Systems: Applications to Languages},
     year = {2010},
     volume = {2},
     series = {Advances in Intelligent and Soft-Computing series of Springer},
     pages = {371-379},
     address = {Salamanca, Spain},
     month = apr,
     isbn = {978-3-642-12433-4},
     doi = {10.1007/978-3-642-12433-4_44},
     webpdf = {/assets/pdfs/paams2010ga.pdf},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-12433-4_44},
     publisher = {Springer-Verlag}
   }
   

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   The Web has been the star service on the Internet, however the outsized information available and its decentralized nature has originated an intrinsic difficulty to locate, extract and compose information. An automatic approach is required to handle with this huge amount of data. In this paper we present a machine learning algorithm based on Genetic Algorithms which generates a set of complex wrappers, able to extract information from theWeb. The paper presents the experimental evaluation of these wrappers over a set of basic data sets.

4. A. González, D. F. Barrero, M. D. R-Moreno, and D. Camacho, “A Case Study on Grammatical-based Representation for Regular Expression Evolution,” in Proceedings of 8th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2010). Special Session on Bio-Inspired and Multi-Agents Systems: Applications to Languages, Salamanca, Spain, 2010, vol. 2, pp. 379–386. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Gonzalez2010,
     author = {Gonz{\'a}lez, Antonio and Barrero, David F. and R-Moreno, Mar{\'i}a D. and Camacho, David},
     title = {A Case Study on Grammatical-based Representation for Regular Expression Evolution},
     organization = {8th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2010)},
     booktitle = {Proceedings of 8th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2010). Special Session on Bio-Inspired and Multi-Agents Systems: Applications to Languages},
     year = {2010},
     volume = {2},
     series = {Advances in Intelligent and Soft-Computing series of Springer},
     pages = {379-386},
     address = {Salamanca, Spain},
     month = apr,
     isbn = {978-3-642-12433-4},
     doi = {10.1007/978-3-642-12433-4_45},
     webpdf = {/assets/pdfs/paams2010regex.pdf},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-12433-4_45},
     publisher = {Springer-Verlag}
   }
   

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   Regular expressions, or simply regex, have been widely used as a powerful pattern matching and text extractor tool through decades. Although they provide a powerful and flexible notation to define and retrieve patterns from text, the syntax and the grammatical rules of these regex notations are not easy to use, and even to understand. Any regex can be represented as a Deterministic or Non-Deterministic Finite Automata; so it is possible to design a representation to automatically build a regex, and a optimization algorithm able to find the best regex in terms of complexity. This paper introduces both, a graph-based representation for regex, and a particular heuristic-based evolutionary computing algorithm based on grammatical features from this language in a particular data extraction problem.

5. D. F. Barrero, D. Camacho, and M. D. R-Moreno, “Confidence Intervals of Success Rates in Evolutionary Computation,” in Proceedings of Genetic and Evolutionary Computation Conference (GECCO-2010)., Portland, OR, USA, 2010, pp. 975–976. BibTeX.

   @inproceedings{Barrero2010gecco,
     author = {Barrero, David F. and Camacho, David and R-Moreno, M. Dolores},
     title = {Confidence Intervals of Success Rates in Evolutionary Computation},
     booktitle = {Proceedings of Genetic and Evolutionary Computation Conference (GECCO-2010).},
     year = {2010},
     address = {Portland, OR, USA},
     month = {7-11 julio},
     organization = {Genetic and Evolutionary Computation Conference (GECCO-2010).},
     publisher = {ACM},
     poster = {/assets/pdfs/cec2010Poster.pdf},
     webpdf = {/assets/pdfs/gecco2010.pdf},
     pages = {975-976}
   }
   

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   → Poster
   
6. B. Castaño and M. Rodriguez-Moreno, “A ZigBee and RFID hybrid system for people monitoring and helping inside large buildings,” in 2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA 2010), 2010, pp. 16–21. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Castano2010,
     author = {Castaño, B. and Rodriguez-Moreno, M.},
     booktitle = {2010 IEEE Symposium on Industrial Electronics and Applications (ISIEA 2010)},
     title = {A ZigBee and RFID hybrid system for people monitoring and helping inside large buildings},
     year = {2010},
     volume = {},
     number = {},
     pages = {16-21},
     keywords = {Zigbee;radiofrequency identification;radiotelemetry;RFID hybrid system;ZigBee wireless subsystem;artificial intelligent program;earthquake;large buildings;people behaviour monitoring;Buildings;Computational modeling;Computers;Detectors;Planning;Radiofrequency identification;Zigbee;Artificial Intelligence;Planning;RFID;Wireless;ZigBee},
     url = {http://ieeexplore.ieee.org/document/5679504/},
     doi = {10.1109/ISIEA.2010.5679504},
     isbn = {978-1-4244-7647-3},
     month = oct
   }
   

   This article refers to a system that combines ZigBee and RFID technologies for monitoring people behavior when moving inside a building. The RFID part of our system consists of a set of detector placed at strategic points. To accomplish this detection goal the visitors of the building have to be provided with a RFID tag either active or passive. The ZigBee wireless subsystem will send the information generated by the detectors to the main computer. The movements of all and every one of the attendees will be followed on-line and recorded in a database. Filed information will be useful to know people activity and performance afterward. The system also includes an artificial intelligent program (a planner) that would be used to direct the movements of visitors when necessary, for instance, in case of fast evacuation of the building for fire or earthquake.

7. J. Kurien and R-Moreno Marı́a D., “Intrinsic Hurdles in Applying Automated Diagnosis and Recovery to Spacecraft,” IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 40, no. 5, pp. 945–958, Sep. 2010. Publisher. DOI. BibTeX.

   @article{Kurien2010,
     author = {Kurien, James and R-Moreno, Mar\'{\i}a D.},
     title = {Intrinsic Hurdles in Applying Automated Diagnosis and Recovery to Spacecraft},
     journal = {IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans},
     issue_date = {September 2010},
     volume = {40},
     number = {5},
     month = sep,
     year = {2010},
     issn = {1083-4427},
     pages = {945--958},
     numpages = {14},
     url = {http://dx.doi.org/10.1109/TSMCA.2010.2052035},
     doi = {10.1109/TSMCA.2010.2052035},
     acmid = {1862046},
     publisher = {IEEE Press},
     address = {Piscataway, NJ, USA},
     keywords = {Benefits, benefits, cost, expected value, fault protection (FP), model-based diagnosis (MBD), spacecraft},
     webpdf = {/assets/pdfs/smca2010.pdf}
   }
   

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8. D. F. Barrero, A. González-Pardo, D. Camacho, and M. D. R-Moreno, “Distributed Parameter Tuning for Genetic Algorithms,” Computer Science and Information Systems (ComSIS), vol. 7, no. 3, pp. 661–677, Jun. 2010. Publisher. Abstract. BibTeX.

   @article{Barrero2010comsis,
     author = {Barrero, David F. and Gonz{\'a}lez-Pardo, Antonio and Camacho, David and R-Moreno, Mar{\'i}a D.},
     title = {Distributed Parameter Tuning for Genetic Algorithms},
     journal = {Computer Science and Information Systems (ComSIS)},
     year = {2010},
     volume = {7},
     number = {3},
     pages = {661-677},
     month = jun,
     issn = {1820-0214},
     weburl = {/assets/pdfs/comsis2010.pdf},
     url = {http://www.comsis.org/archive.php?show=ppr241-0912},
     impacto = {0.324 (115/126: Comp. Science \& Inf. Syst.) (2010)}
   }
   

   Genetic Algorithms (GA) is a family of search algorithms based on the mechanics of natural selection and biological evolution. They are able to efficiently exploit historical information in the evolution process to look for optimal solutions or approximate themfor a given problem, achieving excellent performance in optimization problems that involve a large set of dependent variables. Despite the excellent results of GAs, their use may generate new problems. One of them is how to provide a good fitting in the usually large number of parameters that must be tuned to allow a good performance. This paper describes a new platform that is able to extract the Regular Expression that matches a set of examples, using a supervised learning and agent-based framework. In order to do that, GA-based agents decompose the GA execution in a distributed sequence of operations performed by them. The platform has been applied to Language induction problem, for that reason the experiments are focused on the extraction of the regular expression that matches a set of examples. Finally, the paper shows the efficiency of the proposed platform (in terms of fitness value) applied to three case studies: emails, phone numbers and URLs. Moreover, it is described how the codification of the alphabet affects to the performance of the platform.

9. D. F. Barrero, M. D. R-Moreno, and D. R. López, “Information Integration in Searchy: an Ontology and Web Services Approach,” International Journal of Computer Science and Applications (IJCSA), vol. 7, no. 2, pp. 14–29, 2010. Publisher. BibTeX.

   @article{Barrero2010ijcsa,
     author = {Barrero, David F. and R-Moreno, Mar{\'i}a D. and L{\'o}pez, Diego R.},
     title = {{Information Integration in Searchy: an Ontology and Web Services Approach}},
     journal = {International Journal of Computer Science and Applications (IJCSA)},
     year = {2010},
     volume = {7},
     pages = {14-29},
     number = {2},
     url = {http://www.tmrfindia.org/ijcsa/v72.html},
     webpdf = {http://www.tmrfindia.org/ijcsa/v7i22.pdf},
     issn = {0972-9038}
   }
   

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2009

1. D. F. Barrero, D. Camacho, and M. D. R-Moreno, “Data Mining and Multiagent Integration,” L. Cao, Ed. University of Technology Sydney, Australia: Springer-Verlag, 2009, pp. 143–154. Publisher. Abstract. BibTeX.

   @inbook{Barrero2009dmmi,
     chapter = {{Automatic Web Data Extraction based on Genetic Algorithms and Regular Expressions}},
     pages = {143-154},
     title = {{Data Mining and Multiagent Integration}},
     publisher = {Springer-Verlag},
     year = {2009},
     editor = {Cao, Longbing},
     author = {Barrero, David F. and Camacho, David and R-Moreno, Maria D.},
     address = {University of Technology Sydney, Australia},
     month = aug,
     issn = {978-1-444},
     url = {http://www.springerlink.com/content/g1k1n12060742860/},
     webpdf = {/assets/pdfs/dmmi2009.pdf}
   }
   

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   Data Extraction from the World Wide Web is a well known, unsolved, and critical problem when complex information systems are designed. These problems are related to the extraction, management and reuse of the huge amount ofWeb data available. These data usually has a high heterogeneity, volatility and low quality (i.e. format and content mistakes), so it is quite hard to build reliable systems. This chapter proposes an Evolutionary Computation approach to the problem of automatically learn software entities based on Genetic Algorithms and regular expressions. These entities, also called wrappers, will be able to extract some kind of Web data structures from examples.

2. P. Muñoz, M. D. R-Moreno, J. Gómez-de-Elvira, S. Navarro, and J. Romeral, “An Autonomous System for the Locomotion of a Hexapod Exploration Robot,” in Procs. of the 3rd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, USA, 2009, pp. 150–154. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Munoz2009smcit,
     author = {Muñoz, Pablo and R-Moreno, María D. and Gómez-de-Elvira, Javier and Navarro, Sara and Romeral, Julio},
     title = {An Autonomous System for the Locomotion of a Hexapod Exploration Robot},
     booktitle = {Procs. of the 3rd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009)},
     year = {2009},
     pages = {150-154},
     address = {Pasadena, CA, USA},
     month = jul,
     isbn = {978-0-7695-3637-8 },
     doi = {10.1109/SMC-IT.2009.25},
     webpdf = {/assets/pdfs/smcit2009.pdf},
     url = {http://ieeexplore.ieee.org/document/5226836/}
   }
   

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   Ptinto is a hexapod robot designed to keep the equilibrium when moving around rocky and cumbersome areas during the exploration of the Tinto river in Huelva (Spain). We have developed an integrated planning and scheduling system called PIPSS to control the locomotion of the P-Tinto robot. PIPSS tries to make the better moves for the legs in order to keep the right balance and calculate the trajectory between two points. It exchanges information with an executor system that execute the plan, and in case there are some obstacles that Ptinto cannot avoid, a new trajectory will be re-calculated.

3. D. F. Barrero, D. Camacho, and M. D. R-Moreno, “A Framework for Agent-Based Evaluation of Genetic Algorithms,” in Proceedings of the 3rd International Symposium on Intelligent Distributed Computing (IDC 2009), Ayia Napa, Chipre, 2009, vol. 237, pp. 31–41. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Barrero2009idc,
     author = {Barrero, David F. and Camacho, David and R-Moreno, Maria D.},
     title = {{A Framework for Agent-Based Evaluation of Genetic Algorithms}},
     booktitle = {Proceedings of the 3rd International Symposium on Intelligent Distributed
     	Computing (IDC 2009)},
     year = {2009},
     editor = {Springer-Verlag},
     volume = {237},
     series = {Studies in Computational Intelligence},
     pages = {31-41},
     address = {Ayia Napa, Chipre},
     month = {13-14 octubre},
     organization = {International Symposium on Intelligent Distributed Computing (IDC
     	2009)},
     publisher = {Springer-Verlag},
     doi = {10.1007/978-3-642-03214-1},
     url = {http://www.springerlink.com/content/m1110534421u1274/}
   }
   

   Genetic Algorithms (GA) are a set of algorithms that use biological evolution as inspiration to solve search problems. One of the difficulties found when working with GA are the several parameters that have to be set and the many details that can be tunned in the GA. Usually it leads to the execution of several experiments in order to study how the GA behaves under different circumstances. In general it requires several computational resources and time to code the same algorithm with slight differences several times. In this paper we propose a framework based on agent technology able to parallelize the experiment and to split it into several components. It is complemented with a description of how this framework can be used in the evolution of regular expressions.

4. D. Camacho, E. Pulido, R-Moreno Marı́a D., R. M. Carro, Á. Ortigosa, and J. Bravo, “Automatic Course Redesign: global vs individual adaptation,” International Journal of Engineering Education, vol. 25, no. 6, pp. 1–13, Sep. 2009. BibTeX.

   @article{Camacho2009,
     author = {Camacho, David and Pulido, Estrella and R-Moreno, Mar\'{\i}a D. and Carro, Rosa M. and Ortigosa, Álvaro and Bravo, Javier},
     title = {Automatic Course Redesign: global vs individual adaptation},
     journal = {International Journal of Engineering Education},
     volume = {25},
     number = {6},
     year = {2009},
     month = sep,
     pages = {1-13},
     publisher = {Ed. Tempus Publications},
     webpdf = {/assets/pdfs/ijee2009.pdf}
   }
   

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5. B. Castaño and R-Moreno Marı́a D., “An integrated AI and RFID system for people Detection and Orientation,” Journal of Systemics, Cybernetics and Informatics, vol. 7, no. 1, pp. 49–55, Sep. 2009. Publisher. Abstract. BibTeX.

   @article{Castano2009,
     author = {Castaño, Bonifacio and R-Moreno, Mar\'{\i}a D.},
     title = {An integrated AI and RFID system for people Detection and Orientation},
     journal = {Journal of Systemics, Cybernetics and Informatics},
     volume = {7},
     number = {1},
     year = {2009},
     month = sep,
     pages = {49-55},
     issn = {1690-4532},
     url = {http://www.ingentaconnect.com/content/doaj/16904532/2009/00000007/00000001/art00016},
     webpdf = {http://www.iiisci.org/journal/CV$/sci/pdfs/ZT645NB.pdf}
   }
   

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   A common problem that visitors have to face in big buildings, with several floors, corridors and departments, is their accurate location and orientation. The problem gets even worst when there are a big number of users and they have time constraints. A typical example is a medical centre where the patients have got scheduled doctor’s appointments and, in some cases, severe movement difficulties. A possibility for solving this problem is to provide the building with an intelligent system for user detection and orientation. In addition, this strategy would allow to find and locate all the people inside the building and to carry out an individual search if it were necessary. This is the framework we have chosen in this article. We have developed a complete hardware and software system for people detection, location and orientation in this scenario. The hardware part of the system is based on the RFID technology and it has been successfully implemented in a fully operational prototype. The software uses artificial intelligence techniques, specifically planning and scheduling.

6. M. D. R-Moreno, B. Castaño, M. Carbajo, and A. Moreno, “RFID Technology and AI Techniques for People Location, Orientation and Guiding,” in 22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2009), B.-C. Chien, T.-P. Hong, S.-M. Chen, and M. Ali, Eds. Tainan, Taiwan: Springer Berlin Heidelberg, 2009, pp. 389–398. Publisher. DOI. Abstract. BibTeX.

   @inbook{R-Moreno2009iea,
     author = {R-Moreno, M. D. and Casta{\~{n}}o, B. and Carbajo, M. and Moreno, A.},
     editor = {Chien, Been-Chian and Hong, Tzung-Pei and Chen, Shyi-Ming and Ali, Moonis},
     title = {RFID Technology and AI Techniques for People Location, Orientation and Guiding},
     booktitle = {22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE 2009)},
     year = {2009},
     month = jun,
     publisher = {Springer Berlin Heidelberg},
     address = {Tainan, Taiwan},
     pages = {389--398},
     isbn = {978-3-642-02568-6},
     doi = {10.1007/978-3-642-02568-6_40},
     url = {https://link.springer.com/chapter/10.1007/978-3-642-02568-6_40},
     webpdf = {/assets/pdfs/ieaaie2009.pdf}
   }
   

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   One of the main problems that we have to face when visiting public or official buildings (i.e hospitals or public administrations) is the lack of information and signs that can guide us. Thanks to the new technology advances, the electronic communication networks can be focused on an objective environment. These techniques can be used to help users to get their right location and orientation.

2008

1. M. J. Plaza, M. R-Moreno, M. Carbajo, and A. Moreno, “PIPSS: Parallel Integrated Planning and Scheduling System,” in 27th Annual Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG08), Edinburg, UK, 2008, pp. 123–136. Abstract. BibTeX.

   @inproceedings{Plaza2008,
     author = {Plaza, María J. and R-Moreno, María and Carbajo, M. and Moreno, A.},
     title = {PIPSS: Parallel Integrated Planning and Scheduling System},
     booktitle = {27th Annual Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG08)},
     year = {2008},
     pages = {123--136},
     month = dec,
     address = {Edinburg, UK},
     webpdf = {/assets/pdfs/plansig2008.pdf}
   }
   

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   AI planning and scheduling are two closely related areas. Planning provides a set of actions that achieves a set of goals, and scheduling assigns time and resources to the actions. Currently, most of the real world problems require the use of shared and limited resources with time constraints when planning. Then, systems that can integrate planning and scheduling techniques to deal with this kind of problems are needed. This paper describes the extension performed in PIPSS (Parallel Integration Planning and Scheduling System) called PIPSS*. PIPSS combines traditional state space heuristic search planning with constraint satisfaction algorithms. The extension is based on heuristic functions that allows the planner to reduce the search space based on time estimations that imposes temporal constraints to the scheduler. The purpose is to achieve a tighter integration respect to the previous version and minimize the makespan. Results show that PIPSS* outperforms state of the art planners under the temporal satisficing track in the IPC-08 competition for the tested domains.

2. J. Kurien and M. R-Moreno, “Why Model Based Diagnosis for Spacecraft Never Took Off,” in Procs. of the 10th International Workshop on Principles of Diagnosis (DX-08), Blue Mountains, Australia, 2008. BibTeX.

   @inproceedings{Kurien2008,
     author = {Kurien, James and R-Moreno, María},
     title = {Why Model Based Diagnosis for Spacecraft Never Took Off},
     booktitle = {Procs. of the 10th International Workshop on Principles of Diagnosis (DX-08)},
     year = {2008},
     month = sep,
     address = {Blue Mountains, Australia}
   }
   

3. B. Castaño and M. D. R-Moreno, “An Artificial Intelligence and RFID System for People Detection and Orientation in Big Surfaces,” in Procs of the 6th International Conference on Computing, Communications and Control Technologies (CCCT2008). Florida, USA, 2008. BibTeX.

   @inproceedings{Castano2008,
     author = {Castaño, B. and R-Moreno, M.~D.},
     title = {{An Artificial Intelligence and RFID System for People Detection and Orientation in Big Surfaces}},
     booktitle = {Procs of  the 6th International Conference on Computing, Communications and Control Technologies (CCCT2008). Florida, USA},
     year = {2008},
     webpdf = {/assets/pdfs/ccct2008.pdf}
   }
   

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4. J. Kurien and M. D. R-Moreno, “Costs and Benefits of Model-based Diagnosis,” in 2008 IEEE Aerospace Conference, Big Sky, MO, USA, 2008, pp. 1–14. Publisher. DOI. Abstract. BibTeX.

   @inproceedings{Kurien2008ieee,
     author = {Kurien, J. and R-Moreno, M.~D.},
     title = {Costs and Benefits of Model-based Diagnosis},
     booktitle = {2008 IEEE Aerospace Conference},
     address = {Big Sky, MO, USA},
     year = {2008},
     month = mar,
     pages = {1-14},
     doi = {10.1109/AERO.2008.4526647},
     issn = {1095-323X},
     url = {http://ieeexplore.ieee.org/document/4526647/},
     webpdf = {/assets/pdfs/aero2008.pdf}
   }
   

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   Over the past 20 years, there has been much work in the area of model-based diagnosis (MBD). By this we mean diagnosis systems arising from computer science or artificial intelligence approaches where a generic software engine is developed to address a large class of diagnosis problems. Later, models are created to apply the engine to a specific problem. These techniques are very attractive, suggesting a vision of machines that repair themselves, reduced costs for all kinds of endeavors, spacecraft that continue their missions even when failing, and so on. This promise inspired a broad range of activity, including our involvement over several years in flying the Livingstone and Livingstone 2 on-board model-based diagnosis and recovery systems as experiments on two spacecraft. While a great deal was learned through a variety of applications to simulators, testbeds and flight experiments, no project adopted the technology in operations and the expected benefits have not yet come to fruition. This led us to ask what are the costs of using MBD for the operational scenarios we encountered, what are the benefits, and how do we approach the question of whether the benefits outweigh the costs? How are missions today approaching fault diagnosis and recovery during operations? If we characterize the cost and benefits of using MBD, how would it compare with traditional ways of making a system more robust? How did expectations for MBD compare to benefits seen in the field and why? The literature does provide existing cost models for related endeavors such as integrated vehicle health management. It also provides excellent narratives of why projects chose not to use MBD after considering it. However, we believe that this paper is the first to unpack and discuss the cost, benefit and risk factors that impact the net value of model-based diagnosis and recovery. We use experience with systems such as Livingstone as an example, so our focus is on-board model-based diagnosis and recovery, but we believe many of the insights and remaining questions on the costs and benefits are applicable to other diagnosis applications. Quantitative model of when on-board model-based diagnosis would be an effective choice, it lays out the cost/benefit proposition and identifies several disconnects that we believe prevent adoption as an operational tool. While we do not suggest metrics for every cost, benefit and risk factor we identify, we do discuss where each factor arises in development or operations and how model-based diagnosis and recovery tends to leverage or exacerbate each. As such we believe the analysis is of use to those developing MBD or related techniques and those who may employ them. It also serves as one example of how honest expectations based on technical capability can come to differ from the net impact on customer problems. In this paper we present a cost/benefit analysis for MBD, using expectations and experiences with Livingstone as an example. We provide an overview of common techniques for making spacecraft robust, citing fault protection schemes from recent missions. We lay out the cost, benefit and risk advantages associated with on-board MBD, and use the examples to probe each expected advantage in turn. We conclude our analysis with a summary of our method for analyzing the costs and benefits in a particular domain, and encourage others to come forward with analyses of costs and benefits for fielded systems. Finally, we discuss related work both in terms of similar analyses and fielded systems.

5. D. Camacho, M. D. R-Moreno, D. F. Barrero, and R. Akerkar, “Semantic Wrappers for Semi-Structured Data,” Computing Letters (Cole), vol. 4, no. 1-4, pp. 21–34, Dec. 2008. Abstract. BibTeX.

   @article{CamachoCOLE2008,
     author = {Camacho, David and R-Moreno, Mar{\'i}a D. and Barrero, David F. and Akerkar, Rajendra},
     title = {{Semantic Wrappers for Semi-Structured Data}},
     journal = {Computing Letters (Cole)},
     year = {2008},
     volume = {4},
     pages = {21-34},
     number = {1-4},
     month = dec,
     editor = {Publishers, Brill Academia},
     owner = {david},
     publisher = {http://www.compulett.org/Search.htm},
     timestamp = {2010.03.25},
     webpdf = {http://www.compulett.org/Files/Stuff/v4n1-4/s2.pdf}
   }
   

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   In this paper, we propose an approach to extract information from HTML pages and to add semantic (XML) tags to them. Wrapping is an essential technique used to automatically extract information from Web sources. This paper describes both, a general approach based on rules, which can be used to automatically generate wrappers, and an assistant generator wrapper called WebMantic. We also provide some experimental results to show that both the rule generation process and the preprocessing task are fast and reliable.

6. M. D. R-Moreno and J. Kurien, “What is next in Autonomous Control Techniques?,” in Procs. of the 9th International Symposium on Artificial Intelligence, Robotics and Automation for Space (i-SAIRAS 2008)., Los Angeles, CA, USA, 2008. BibTeX.

   @inproceedings{R-Moreno2008sairas,
     author = {R-Moreno, M.~D. and Kurien, J.},
     title = {{What is next in Autonomous Control Techniques?}},
     booktitle = {Procs. of the 9th International Symposium on Artificial Intelligence, Robotics and Automation for Space (i-SAIRAS 2008).},
     address = {Los Angeles, CA, USA},
     month = feb,
     year = {2008},
     webpdf = {/assets/pdfs/sairas2008.pdf}
   }
   

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7. M. D. R-Moreno, D. Camacho, and U. Obieta, “A formal plan-based methodology to monitoring eLearning courses,” International Journal of Computer Science and Applications, vol. 5, no. 1, pp. 33–48, 2008. BibTeX.

   @article{R-Moreno2008ijcsa,
     author = {R-Moreno, María D. and Camacho, David and Obieta, Unai},
     title = {{A formal plan-based methodology to monitoring eLearning courses}},
     journal = {International Journal of Computer Science and Applications},
     year = {2008},
     volume = {5},
     number = {1},
     pages = {33-48},
     webpdf = {http://www.tmrfindia.org/ijcsa/v5i13.pdf}
   }
   

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2007

1. D. Camacho, M. D. R-Moreno, and U. Obieta, “CAMOU: A simple integrated e-Learning and AI techniques tool,” in International Workshop on REpresentation models and Techniques for Improving e-Learning: Bringing Context into the Web-based Education (ReTIeL’07), Roskilde University, Denmark, 2007, pp. 17–27. BibTeX.

   @inproceedings{Camacho2007retiel,
     author = {Camacho, David and R-Moreno, María D. and Obieta, Unai},
     title = {{CAMOU: A simple integrated e-Learning and AI techniques tool}},
     booktitle = {International Workshop on REpresentation models and Techniques for Improving e-Learning: Bringing Context into the Web-based Education (ReTIeL'07)},
     pages = {17-27},
     month = aug,
     address = {Roskilde University, Denmark},
     year = {2007},
     webpdf = {/assets/pdfs/retiel2007.pdf}
   }
   

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2. M. D. R-Moreno, G. Brat, N. Muscettola, and D. Rijsman, “Validation of a Multi-Agent Architecture for Planning and Execution,” in Proceedings of 18th International Workshop on Principles of Diagnosis, Nashville, TN, USA, 2007, pp. 368–371. BibTeX.

   @inproceedings{R-Moreno2007a,
     author = {R-Moreno, María D. and Brat, Guillaume and Muscettola, Nicola and Rijsman, David},
     title = {Validation of a Multi-Agent Architecture for Planning and Execution},
     booktitle = {Proceedings of 18th International Workshop on Principles of Diagnosis},
     pages = {368-371},
     month = may,
     address = {Nashville, TN, USA},
     year = {2007},
     webpdf = {/assets/pdfs/wpd2007.pdf}
   }
   

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3. D. Camacho and M. D. R-Moreno, “Towards an automatic monitoring for higher education learning design,” International Journal of Metadata, Semantics and Ontologies, vol. 2, no. 1, pp. 1–10, 2007. BibTeX.

   @article{Camacho2007ijmso,
     title = {Towards an automatic monitoring for higher education learning design},
     author = {Camacho, David and R-Moreno, Maria D},
     journal = {International Journal of Metadata, Semantics and Ontologies},
     volume = {2},
     number = {1},
     pages = {1--10},
     year = {2007},
     publisher = {Inderscience Publishers},
     webpdf = {/assets/pdfs/ijmso2007.pdf}
   }
   

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4. D. Camacho, R. Carro, A. Ortigosa, E. Pulido, and M. D. R-Moreno, “Automatic course redesign using metadata and scheduling: group-based vs individual adaptation,” in Proceedings of Computer Assisted Learning (CAL) biennial conference Development, Disruption and Debate, 2007. BibTeX.

   @inproceedings{Camacho2007cal,
     title = {Automatic course redesign using metadata and scheduling: group-based vs individual adaptation},
     author = {Camacho, David and Carro, Rosa and Ortigosa, Alvaro and Pulido, Estrella and R-Moreno, Maria D.},
     editor = {Elsevier},
     year = {2007},
     booktitle = {Proceedings of Computer Assisted Learning (CAL) biennial conference Development, Disruption and Debate}
   }
   

5. D. Camacho and M. D. R-Moreno, “DynJAQ: An Adaptive and Flexible Dynamic FAQ System,” International Journal of Intelligent Systems, vol. 22, no. 3, pp. 303–318, 2007. Publisher. Abstract. BibTeX.

   @article{Camacho2007jis,
     author = {Camacho, D. and R-Moreno, M.~D.},
     title = {DynJAQ: An Adaptive and Flexible Dynamic FAQ System},
     journal = {International Journal of Intelligent Systems},
     volume = {22},
     number = {3},
     pages = {303-318},
     year = {2007},
     url = {http://onlinelibrary.wiley.com/doi/10.1002/int.20198/full},
     webpdf = {/assets/pdfs/jis2007.pdf}
   }
   

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   This article presents a new type of Frequently Asked Questions (FAQ) System, called DynJAQ (Dynamic Java Asked Questions) that has been designed with the purpose of making learning more appealing to beginner students of engineering disciplines and overcome the inconvenience of these systems. DynJAQ is able to generate dynamically several HTML guides that can be used to answer any possible question about a particular programming language (Java), although it can be easily extended to any other topic. DynJAQ integrates case-based knowledge into a graph-based representation that can be easily learned and managed. The combination of both case-based knowledge and graphs allows it to implement a flexible hierarchical structures (or learning graphs) that have been applied to implement a new kind of Frequently Asked Questions Systems. In these systems the output is dynamically built from the user query, using as basis structures the knowledge retrieved from a Case Base. The management of these cases allows enriching the knowledge base.

6. D. F. Barrero and J. I. Criado, “Investigando la Web Semántica, los servicios web y la integración organizacional en el sector público,” De Auditu, vol. 1, pp. 122–136, 2007. BibTeX.

   @article{BarreroDeAuditu2007,
     author = {Barrero, David F. and Criado, J. Ignacio},
     title = {{Investigando la Web Sem{\'a}ntica, los servicios web y la integraci{\'o}n
     	organizacional en el sector p{\'u}blico}},
     journal = {De Auditu},
     year = {2007},
     volume = {1},
     pages = {122-136},
     month = {},
     address = {Caracas, Venezuela}
   }
   

7. D. F. Barrero, J. I. Criado, and M. C. Ramilo, “Hizuntza, komunikazioaren eta teknologiaren garaian,” Vitoria, Spain: Instituto Vasco de Adminitración Pública, 2007, pp. 49–60. BibTeX.

   @inbook{Barrero2007a,
     chapter = {{Lankidetza-tresnak I: Web 2.0, Web Semantikoa eta wiki-ak}},
     pages = {49--60},
     title = {Hizuntza, komunikazioaren eta teknologiaren garaian},
     publisher = {Instituto Vasco de Adminitraci{\'o}n P{\'u}blica},
     year = {2007},
     author = {Barrero, David F. and Criado, J. Ignacio and Ramilo, M. Carmen},
     address = {Vitoria, Spain},
     month = {49-60}
   }
   

8. D. F. Barrero, M. C. Ramilo, and J. I. Criado, “Hizuntza, komunikazioaren eta teknologiaren garaian,” Vitoria, Spain: Instituto Vasco de Adminitración Pública, 2007, pp. 61–74. BibTeX.

   @inbook{Barrero2007b,
     chapter = {{Lankidetza-tresnak II: Blogak, herritarrak, gobernuak eta administrazio
     	publikoak}},
     pages = {61-74},
     title = {Hizuntza, komunikazioaren eta teknologiaren garaian},
     publisher = {Instituto Vasco de Adminitraci{\'o}n P{\'u}blica},
     year = {2007},
     author = {Barrero, David F. and Ramilo, M. Carmen and Criado, J. Ignacio},
     address = {Vitoria, Spain},
     month = {61-74}
   }
   

9. D. Camacho, A. Ortigosa, E. Pulido, and M. D. R-Moreno, “AI techniques for Monitoring Student Learning Process.,” in Advances in E-Learning: Experiences and Methodologies, F. J. García, Ed. IGI Global, 2007, pp. 149–172. Publisher. BibTeX.

   @incollection{Camacho2007a,
     author = {Camacho, D. and Ortigosa, A. and Pulido, E. and R-Moreno, M.~D.},
     title = {AI techniques for Monitoring Student Learning Process.},
     booktitle = {Advances in E-Learning: Experiences and Methodologies},
     publisher = {IGI Global},
     editor = {García, Francisco J.},
     pages = {149-172},
     chapter = {9},
     year = {2007},
     url = {https://www.igi-global.com/chapter/techniques-monitoring-student-learning-process/4737}
   }
   

10. M. D. R-Moreno, M. Prieto, and D. Meziat, “An AI Electrical Ground Support Equipment for Controlling and Testing a Space Instrument,” Applied Artificial Intelligence, vol. 21, no. 2, pp. 81–98, 2007. Publisher. DOI. Abstract. BibTeX.

    @article{R-Moreno2007aai,
      author = {R-Moreno, M.~D. and Prieto, M. and Meziat, D.},
      title = {{An AI Electrical Ground Support Equipment for Controlling and Testing a Space Instrument}},
      journal = {Applied Artificial Intelligence},
      volume = {21},
      number = {2},
      pages = {81-98},
      year = {2007},
      publisher = {Taylor \& Francis},
      doi = {10.1080/08839510601116856},
      url = {http://www.tandfonline.com/doi/abs/10.1080/08839510601116856},
      webpdf = {/assets/pdfs/aai2007.pdf}
    }
    

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    A versatile and modular electrical ground support equipment (EGSE) system has been developed using artificial intelligence (AI) techniques to control and test the PESCA instrument and the communication process of the satellite without any human supervision. The PESCA instrument has been designed and built with the purpose of studying solar energetic particles and the anomalous cosmic rays. It will be part of the Russian FOTON satellite payload that is scheduled to be launched in December 2007. The tool allows complete and autonomous control, verification, and validation of the PESCA instrument, although its modularity makes it extensible to other onboard instruments.

11. M. D. R-Moreno, D. Borrajo, A. Cesta, and A. Oddi, “Integrating Planning and Scheduling in Workflow Domains,” Expert Systems with Applications, vol. 33, no. 2, pp. 389–406, 2007. Publisher. Abstract. BibTeX.

    @article{R-Moreno2007eswa,
      author = {R-Moreno, M.~D. and Borrajo, D. and Cesta, A. and Oddi, A.},
      title = {Integrating Planning and Scheduling in Workflow Domains},
      journal = {Expert Systems with Applications},
      volume = {33},
      number = {2},
      pages = {389-406},
      year = {2007},
      url = {http://www.sciencedirect.com/science/article/pii/S0957417406001540},
      webpdf = {/assets/pdfs/eswa2007.pdf}
    }
    

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    One of the main obstacles in applying AI planning techniques to real problems is the difficulty to model the domains. Usually, this requires that people that have developed the planning system carry out the modeling phase since the representation depends very much on a deep knowledge of the internal working of the planning tools. On some domains such as business process reengineering (BPR), there has already been work on the definition of languages that allow non-experts entering knowledge on processes into the tools. We propose here the use of one of such BPR languages to enter knowledge on the organisation processes to be used by planning tools. Then, planning tools can be used to semi-automatically generate business process models. As instances of this domain, we will use the workflow modeling tool shamash, where we have exploded its object oriented structure to introduce the knowledge through its user-friendly interface and, using a translator transform it into predicate logic terms. After this conversion, real models can be automatically generated using a planner that integrates planning and scheduling, IPSS. We present results in a real workflow domain, the telephone installation (TI) domain.

2006

1. M. D. R-Moreno and D. Camacho, “AI techniques for automatic learning design,” in Proceedings of the International e-Conference of Computer Science (IeCCS 2006), 2006. BibTeX.

   @inproceedings{R-Moreno2006IECCSa,
     author = {R-Moreno, M. D. and Camacho, David},
     title = {AI techniques for automatic learning design},
     booktitle = {Proceedings of the International e-Conference of Computer Science (IeCCS 2006)},
     publisher = {VSP/Brill Academic Publishers},
     series = {Lecture Series on Computer and Computational Sciences},
     year = {2006},
     webpdf = {/assets/pdfs/ieccs2006.pdf}
   }
   

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2. D. Camacho and M. D. R. Moreno, “Web Data Extraction using Semantic Generators,” in Proceedings of the International e-Conference of Computer Science (IeCCS 2006), 2006, vol. 8, pp. 34–38. BibTeX.

   @inproceedings{R-Moreno2006IECCSb,
     title = {Web Data Extraction using Semantic Generators},
     author = {Camacho, David and Moreno, Marí­a Dolores Rodriguez},
     year = {2006},
     booktitle = {Proceedings of the International e-Conference of Computer Science (IeCCS 2006)},
     volume = {8},
     pages = {34-38},
     publisher = {VSP/Brill Academic Publishers},
     series = {Lecture Series on Computer and Computational Sciences},
     webpdf = {/assets/pdfs/ieccs2006web.pdf}
   }
   

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3. P. Aschwanden, V. Baskaran, S. Bernardini, C. Fry, M. Moreno, N. Muscettola, C. Plaunt, D. Rijsman, and P. Tompkins, “Model-unified planning and execution for distributed autonomous system control,” in AAAI Fall Symposium on Spacecraft Autonomy, Washington DC, USA, 2006. Publisher. Abstract. BibTeX.

   @inproceedings{Aschwanden2006,
     title = {Model-unified planning and execution for distributed autonomous system control},
     author = {Aschwanden, Pascal and Baskaran, Vijay and Bernardini, Sara and Fry, Chuck and Moreno, Maria and Muscettola, Nicola and Plaunt, Chris and Rijsman, David and Tompkins, Paul},
     booktitle = {AAAI Fall Symposium on Spacecraft Autonomy},
     address = {Washington DC, USA},
     year = {2006},
     url = {http://www.aaai.org/Library/Symposia/Fall/2006/fs06-07-001.php},
     webpdf = {/assets/pdfs/aaai2006.pdf}
   }
   

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   The Intelligent Distributed Execution Architecture (IDEA) is a real-time architecture that exploits artificial intelligence planning as the core reasoning engine for interacting autonomous agents. Rather than enforcing separate deliberation and execution layers, IDEA unifies them under a single planning technology. Deliberative and reactive planners reason about and act according to a single representation of the past, present and future domain state. The state obeys the rules dictated by a declarative model of all relevant aspects of the domain - the subsystem to be controlled, internal control processes of the IDEA agent, and interactions with other agents. We present IDEA concepts — modeling, the IDEA core architecture, the unification of deliberation and reaction under planning — and illustrate its use in a simple example. Finally, we present several real-world applications of IDEA, and compare IDEA to other high-level control approaches.

4. M. D. R-Moreno, A. Oddi, D. Borrajo, and A. Cesta, “IPSS: a Hybrid Approach to Planning and Scheduling Integration.,” IEEE Transactions on Knowledge and Data Engineering., vol. 18, no. 12, pp. 1681–1695, Dec. 2006. Publisher. DOI. Abstract. BibTeX.

   @article{R-Moreno2006tkde,
     author = {R-Moreno, M.~D. and Oddi, A. and Borrajo, D. and Cesta, A.},
     title = {{IPSS: a Hybrid Approach to Planning and Scheduling Integration.}},
     journal = {IEEE Transactions on Knowledge and Data Engineering.},
     volume = {18},
     number = {12},
     pages = {1681-1695},
     month = dec,
     year = {2006},
     doi = {10.1109/TKDE.2006.191},
     issn = {1041-4347},
     webpdf = {/assets/pdfs/tkde2006.pdf},
     url = {http://ieeexplore.ieee.org/abstract/document/1717424/}
   }
   

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   Recently, the areas of planning and scheduling in artificial intelligence (AI) have witnessed a big push toward their integration in order to solve complex problems. These problems require both reasoning on which actions are to be performed as well as their precedence constraints (planning) and the reasoning with respect to temporal constraints (e.g., duration, precedence, and deadline); those actions should satisfy the resources they use (scheduling). This paper describes IPSS (integrated planning and scheduling system), a domain independent solver that integrates an AI planner that synthesizes courses of actions with constraint-based techniques that reason based upon time and resources. IPSS is able to manage not only simple precedence constraints, but also more complex temporal requirements (as the Allen primitives) and multicapacity resource usage/consumption. The solver is evaluated against a set of problems characterized by the use of multiple agents (or multiple resources) that have to perform tasks with some temporal restrictions in the order of the tasks or some constraints in the availability of the resources. Experiments show how the integrated reasoning approach improves plan parallelism and gains better makespans than some state-of-the-art planners where multiple agents are represented as additional fluents in the problem operators. It also shows that IPSS is suitable for solving real domains (i.e., workflow problems) because it is able to impose temporal windows on the goals or set a maximum makespan, features that most of the planners do not yet incorporate

5. D. F. Barrero and J. I. Criado, “Ingestigando la Web Semántica, los Servicios Web y la Integración Organizacional en el Sector Público: Searchy como Aplicación para la Gestión del Conocimiento en Entornos Complejos,” in I Congreso Internacional de investigación y Posgrado en el Siglo XXI, Caracas, Venezuela, 2006. BibTeX.

   @inproceedings{Barrero2006,
     author = {Barrero, David F. and Criado, J. Ignacio},
     title = {Ingestigando la Web Sem{\'a}ntica, los Servicios Web y la Integraci{\'o}n
     	Organizacional en el Sector P{\'u}blico: Searchy como Aplicaci{\'o}n
     	para la Gesti{\'o}n del Conocimiento en Entornos Complejos},
     booktitle = {I Congreso Internacional de investigaci{\'o}n y Posgrado en el Siglo
     	XXI},
     year = {2006},
     address = {Caracas, Venezuela},
     timestamp = {2010.03.25}
   }
   

6. J. I. Criado and D. F. Barrero, “Barreras para la Integración de la Calidad de los Servicios Públicos en la eAdministración,” in IX Jornadas sobre Tecnologías de la Información para la Modernización de las Administraciones Públicas (TECNIMAP 2006), Seville, Spain, 2006. BibTeX.

   @inproceedings{Criado2006,
     author = {Criado, J. Ignacio and Barrero, David F.},
     title = {Barreras para la Integraci{\'o}n de la Calidad de los Servicios P{\'u}blicos
     	en la eAdministraci{\'o}n},
     booktitle = {IX Jornadas sobre Tecnolog{\'i}as de la Informaci{\'o}n para la Modernizaci{\'o}n
     	de las Administraciones P{\'u}blicas (TECNIMAP 2006)},
     year = {2006},
     address = {Seville, Spain},
     organization = {IX Jornadas sobre Tecnolog{\'i}as de la Informaci{\'o}n para la Modernizaci{\'o}n
     	de las Administraciones P{\'u}blicas (TECNIMAP 2006)},
     month = {30 mayo - 2 junio}
   }
   

7. J. I. Criado, D. F. Barrero, and M. C. Ramilo, “Política y Web 2.0,” in III Congreso Online del Observatorio de la Cibersociedad, En línea, 2006. Publisher. BibTeX.

   @inproceedings{Criado2006ooc,
     author = {Criado, J. Ignacio and Barrero, David F. and Ramilo, M. Carmen},
     title = {Pol{\'i}tica y Web 2.0},
     booktitle = {III Congreso Online del Observatorio de la Cibersociedad},
     address = {En l\'inea},
     year = {2006},
     organization = {III Congreso Online del Observatorio de la Cibersociedad},
     url = {http://www.cibersociedad.net/congres2006/gts/comunicacio.php?id=963}
   }
   

2005

1. M. D. R-Moreno, D. Borrajo, A. Oddi, A. Cesta, and D. Meziat, “Planning and Scheduling,” IOS Press, 2005. BibTeX.

   @inbook{R-Moreno2005book,
     author = {R-Moreno, M.D. and Borrajo, D. and Oddi, A. and Cesta, A. and Meziat, D.},
     chapter = {Planning and scheduling for workflow domains},
     title = {Planning and Scheduling},
     publisher = {IOS Press},
     year = {2005},
     series = {Frontiers in Artificial Intelligence},
     isbn = {1-58603-484-7},
     webpdf = {/assets/pdfs/faia2005.pdf}
   }
   

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2. D. Pacciarelli, M. Pranzo, J. J. Cuadrado-Gallego, and M. D. R-Moreno, “Optimizing Software Construction,” in 2005 International MultiConference in Computer Science & Computer Engineering (SERP 2005), Las Vegas, NV, USA, 2005, pp. 476–482. BibTeX.

   @inproceedings{Pacciarelli2005,
     title = {Optimizing Software Construction},
     author = {Pacciarelli, Dario and Pranzo, Marco and Cuadrado-Gallego, Juan Jose and R-Moreno, Mar\'ia Dolores},
     booktitle = {2005 International MultiConference in Computer Science \& Computer Engineering (SERP 2005)},
     pages = {476--482},
     month = sep,
     address = {Las Vegas, NV, USA},
     year = {2005}
   }
   

3. M. D. R-Moreno, D. Camacho, G. Díaz-Andino, and R. M. García-Rioja, “Improving Efficiency in Heuristic Search Planners,” in Twenty-fifth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2005), Cambridge, UK, 2005. BibTeX.

   @inproceedings{R-Moreno2005sgaia,
     title = {Improving Efficiency in Heuristic Search Planners},
     author = {R-Moreno, María D. and Camacho, David and Díaz-Andino, Guillermo and García-Rioja, Rosa M.},
     booktitle = {Twenty-fifth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2005)},
     month = dec,
     address = {Cambridge, UK},
     year = {2005}
   }
   

4. G. Díaz-Andino, R. M. García-Rioja, D. Camacho, and M. D. R-Moreno, “GMAP: a flexible mobile agent software architecture for portable devices,” in Twenty-fifth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2005), Cambridge, UK, 2005. BibTeX.

   @inproceedings{R-Moreno2005sgaib,
     title = {{GMAP: a flexible mobile agent software architecture for portable devices}},
     author = {Díaz-Andino, Guillermo and García-Rioja, Rosa M. and Camacho, D. and R-Moreno, M.D.},
     booktitle = {Twenty-fifth SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence (SGAI 2005)},
     month = dec,
     address = {Cambridge, UK},
     year = {2005}
   }
   

5. M. D. R-Moreno, D. Camacho, and A. Moreno, “HPP: A Heuristic Progressive Planner.,” in The 24th Annual Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG05), London, UK, 2005. BibTeX.

   @inproceedings{R-Moreno2005plan,
     author = {R-Moreno, M.~D. and Camacho, D. and Moreno, A.},
     title = {{HPP: A Heuristic Progressive Planner.}},
     booktitle = {The 24th Annual Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG05)},
     address = {London, UK},
     year = {2005},
     webpdf = {/assets/pdfs/plansig2005.pdf}
   }
   

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6. D. F. Barrero, D. R. López, M. D. R-Moreno, and O. García, “Federación distribuida de fuentes de información heterogéneas basadas en servicios web y ontologías,” in I Jornadas Cientifico-Técnicas de Servicios Web, Granade, Spain, 2005, pp. 205–212. BibTeX.

   @inproceedings{Barrero2005jsweb,
     author = {Barrero, David F. and L{\'o}pez, Diego R. and R-Moreno, M. Dolores and Garc\'ia, Oscar},
     title = {Federaci{\'o}n distribuida de fuentes de informaci{\'o}n heterog{\'e}neas
     	basadas en servicios web y ontolog{\'i}as},
     booktitle = {I Jornadas Cientifico-T{\'e}cnicas de Servicios Web},
     year = {2005},
     pages = {205--212},
     address = {Granade, Spain},
     month = {13-14 Septiembre},
     organization = {I Jornadas Cientifico-T{\'e}cnicas de Servicios Web}
   }
   

7. D. F. Barrero, M. D. R-Moreno, O. García, and A. Moreno, “SEARCHY: a metasearch engine for heterogeneous sources in distributed environments,” in DCMI ’05: Proceedings of the 2005 International Conference on Dublin Core and Metadata Applications, Madrid, Spain, 2005, pp. 261–268. Publisher. BibTeX.

   @inproceedings{Barrero2005dcmi,
     author = {Barrero, David F. and R-Moreno, M. Dolores and Garc\'ia, Oscar and Moreno, Angel},
     title = {{SEARCHY: a metasearch engine for heterogeneous sources in distributed
     	environments}},
     booktitle = {DCMI '05: Proceedings of the 2005 International Conference on Dublin
     	Core and Metadata Applications},
     year = {2005},
     pages = {261--268},
     month = {12-15 septiembre},
     organization = {2005 International Conference on Dublin Core and Metadata Applications},
     publisher = {Dublin Core Metadata Initiative},
     isbn = {8489315442, 9788489315440},
     location = {Madrid, Spain},
     address = {Madrid, Spain},
     url = {http://portal.acm.org/citation.cfm?id=1383505},
     webpdf = {/assets/pdfs/dcmi2005.pdf}
   }
   

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2004

1. D. F. Barrero, D. R. López, and O. García, “Federación de servicios de búsqueda mediante un sistema semántico multiagente,” Boletín RedIRIS, vol. 43, pp. 52–56, Dec. 2004. BibTeX.

   @article{BarreroBoletin2005,
     author = {Barrero, David F. and L{\'o}pez, Diego R. and Garc\'ia, Oscar},
     title = {Federaci{\'o}n de servicios de b{\'u}squeda mediante un sistema sem{\'a}ntico
     	multiagente},
     journal = {Bolet{\'i}n RedIRIS},
     year = {2004},
     volume = {43},
     pages = {52-56},
     month = dec,
     address = {Madrid, Spain}
   }
   

2. M. D. R-Moreno, D. Borrajo, and D. Meziat, “An AI Planning-based Tool for Scheduling Satellite Nominal Operations,” AI Magazine, vol. 25, no. 4, 2004. Publisher. Abstract. BibTeX.

   @article{R-Moreno2004AI,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{An AI Planning-based Tool for Scheduling Satellite Nominal Operations}},
     volume = {25},
     number = {4},
     journal = {{AI Magazine}},
     url = {https://aaai.org/ojs/index.php/aimagazine/article/view/1782},
     webpdf = {https://aaai.org/ojs/index.php/aimagazine/article/view/1782/1680},
     year = {2004}
   }
   

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   Satellite domains are becoming a fashionable area of research within the AI community due to the complexity of the problems that satellite domains need to solve. With the current U.S. and European focus on launching satellites for communication, broadcasting, or localization tasks, among others, the automatic control of these machines becomes an important problem. Many new techniques in both the planning and scheduling fields have been applied successfully, but still much work is left to be done for reliable autonomous architectures. The purpose of this article is to present CONSAT, a real application that plans and schedules the performance of nominal operations in four satellites during the course of a year for a commercial Spanish satellite company, HISPASAT. For this task, we have used an AI domain-independent planner that solves the planning and scheduling problems in the HISPASAT domain thanks to its capability of representing and handling continuous variables, coding functions to obtain the operators’ variable values, and the use of control rules to prune the search. We also abstract the approach in order to generalize it to other domains that need an integrated approach to planning and scheduling.

3. M. D. R-Moreno, D. Borrajo, A. Oddi, A. Cesta, and D. Meziat, “IPSS: A problem solver that integrates P&S,” in Third Italian Workshop on Planning and Scheduling, Perugia, Italy, 2004. BibTeX.

   @inproceedings{R-Moreno2004WPS,
     title = {IPSS: A problem solver that integrates P\&S},
     author = {R-Moreno, M. D. and Borrajo, D and Oddi, A and Cesta, A and Meziat, D},
     booktitle = {Third Italian Workshop on Planning and Scheduling},
     address = {Perugia, Italy},
     month = sep,
     year = {2004},
     webpdf = {/assets/pdfs/wps2004.pdf}
   }
   

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4. M. D. R-Moreno, A. Oddi, D. Borrajo, A. Cesta, and D. Meziat, “Planning and Scheduling for workflow domains,” in 16th European Conference on Artificial Intelligence (ECAI 2004), Valencia, Spain, 2004. BibTeX.

   @inproceedings{R-Moreno2004ECAIa,
     author = {R-Moreno, M.~D. and Oddi, A. and Borrajo, D. and Cesta, A. and Meziat, D.},
     title = {{Planning and Scheduling for workflow domains}},
     booktitle = {{16th European Conference on Artificial Intelligence (ECAI 2004)}},
     address = {Valencia, Spain},
     year = {2004},
     webpdf = {/assets/pdfs/ecai2004a.pdf}
   }
   

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5. M. D. R-Moreno, A. Oddi, D. Borrajo, A. Cesta, and D. Meziat, “IPSS: Integrating Hybrid Reasoners for Planning and Scheduling,” in 16th European Conference on Artificial Intelligence (ECAI 2004), Valencia, Spain, 2004. BibTeX.

   @inproceedings{R-Moreno2004ECAIb,
     author = {R-Moreno, M.~D. and Oddi, A. and Borrajo, D. and Cesta, A. and Meziat, D.},
     title = {{IPSS: Integrating Hybrid Reasoners for Planning and Scheduling}},
     booktitle = {{16th European Conference on Artificial Intelligence (ECAI 2004)}},
     address = {Valencia, Spain},
     year = {2004},
     webpdf = {/assets/pdfs/ecai2004b.pdf}
   }
   

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6. M. D. R-Moreno, D. Borrajo, and D. Meziat, “CONSAT: A Tool for Planning and Scheduling Ground Satellite Operations,” in 4th International Workshop on Planning and Scheduling for Space, Darmstadt (Germany), 2004. BibTeX.

   @inproceedings{R-Moreno2004ESA,
     title = {CONSAT: A Tool for Planning and Scheduling Ground Satellite Operations},
     author = {R-Moreno, MD and Borrajo, D and Meziat, D},
     booktitle = {4th International Workshop on Planning and Scheduling for Space},
     address = {Darmstadt (Germany)},
     month = jun,
     year = {2004},
     webpdf = {/assets/pdfs/wpss2004.pdf}
   }
   

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7. D. Camacho, M. D. R-Moreno, A. López, and C. Castro, “Using Hierarchical Knowledge Structures to Implement Dynamic FAQ Systems,” in 5th International Conference on Practical Aspects of Knowledge Management (PAKM 2004), Vienna, Switzerland, 2004, pp. 496–507. Publisher. Abstract. BibTeX.

   @inproceedings{CamachoR2004PAKM,
     title = {Using Hierarchical Knowledge Structures to Implement Dynamic FAQ Systems},
     author = {Camacho, David and R-Moreno, María Dolores and López, Alberto and Castro, César},
     booktitle = {5th International Conference on Practical Aspects of Knowledge Management (PAKM 2004)},
     series = {Lecture Notes in Computer Science},
     pages = {496-507},
     address = {Vienna, Switzerland},
     month = dec,
     year = {2004},
     url = {https://link.springer.com/chapter/10.1007/978-3-540-30545-3_47},
     webpdf = {/assets/pdfs/pakm2004.pdf}
   }
   

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   This paper presents a knowledge representation that allows building hierarchical structures that can be used to build dynamically solutions to solve a particular user question. The goal of this work is to show how it is possible to define (and handle) a new knowledge representation that allows the integration of Case-based Knowledge into a graph-based representation that can be easily learned and managed. The combination of both, Case-based Knowledge and graphs allows to implement a flexible hierarchical structures (or learning graphs) that have been applied to implement a new kind of Frequently Asked Questions Systems. In these systems the output is dynamically built from the user query, using as basis structures the knowledge retrieved from a Case Base. The paper shows how the management of these cases allow enriching the knowledge base. Finally, the paper shows a specific application of this technique, in particular a Web system named DynJAQ (Dynamic Java Asked Questions). DynJAQ is a FAQ system that is able to generate dynamically several HTML guides that can be used to answer any possible question about a particular programming language (Java).

8. D. F. Barrero, D. R. López, and Garcı́a Población, “Distributed Metainformation Searching: An Approach to Information Retrieval in the Age of the Semantic Web,” in VII Trans-European Research and Education Networking Association Networking Conference (TNC 2004), Rodas, Grecia, 2004. Abstract. BibTeX.

   @inproceedings{Barrero2004,
     author = {Barrero, David F. and L{\'o}pez, Diego R. and {\'O}scar Garc\'{\i}a Poblaci{\'o}n},
     title = {Distributed Metainformation Searching: An Approach to Information
     	Retrieval in the Age of the Semantic Web},
     booktitle = {VII Trans-European Research and Education Networking Association
     	Networking Conference (TNC 2004)},
     year = {2004},
     address = {Rodas, Grecia},
     month = {7-10 junio},
     organization = {VII Trans-European Research and Education Networking Association
     	Networking Conference (TNC 2004)},
     citeseerurl = {http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.100.3752},
     weburl = {http://www.terena.org/publications/tnc2004-proceedings/papers/barrero.pdf}
   }
   

   Semantic representation of information has some evident advantages from an integration point of view, but there are many situations in which this approach is not directly applicable, as information is stored in several formats without (implicit or explicit) knowledge of its semantics. We present a distributed middleware able to unify the access to any arbitrary information source by doing a semantic translation of its contents.

9. D. F. Barrero and J. I. Criado, “Integrando la Información de las Administraciones Públicas en la Gestión del Conocimiento. Una solución desde la Web Semántica y los Servicios Web,” in VIII Jornadas sobre Tecnoloías de la Información para la Modernización de las Administraciones Públicas (TECNIMAP 2004), Murcia, España, 2004. BibTeX.

   @inproceedings{BarreroTECNIMAP2004,
     author = {Barrero, David F. and Criado, J. Ignacio},
     title = {Integrando la Informaci{\'o}n de las Administraciones P{\'u}blicas
     	en la Gesti{\'o}n del Conocimiento. Una soluci{\'o}n desde la Web
     	Sem{\'a}ntica y los Servicios Web},
     booktitle = {VIII Jornadas sobre Tecnolo{\'i}as de la Informaci{\'o}n para la
     	Modernizaci{\'o}n de las Administraciones P{\'u}blicas (TECNIMAP
     	2004)},
     year = {2004},
     address = {Murcia, Espa\~na},
     month = {28 septiembre - 1 octubre},
     tipo = {Presentaci\'on},
     owner = {david},
     timestamp = {2010.03.25},
     weburl = {www.csi.map.es/csi/tecnimap/tecnimap_2004/comunicaciones/tema_06/6_019.pdf}
   }
   

10. D. F. Barrero and M. C. Ramilo, “Mitos y Realidades del Software Libre en la Administración Pública,” in II Congreso Internacional Online del Observatorio para la Cibersociedad, En línea, 2004. BibTeX.

    @inproceedings{Barrero2004a,
      author = {Barrero, David F. and Ramilo, M. Carmen},
      title = {Mitos y Realidades del Software Libre en la Administraci{\'o}n P{\'u}blica},
      booktitle = {II Congreso Internacional Online del Observatorio para la Cibersociedad},
      year = {2004},
      organization = {II Congreso Internacional Online del Observatorio para la Cibersociedad},
      address = {En l\'inea}
    }
    

11. J. I. Criado and D. F. Barrero, Construyendo la Administración Electrónica Local. Las Tecnologías de la Información y la Comunicación e Internet en los Ayuntamientos de la Comunidad de Madrid. Madrid, Spain: EuroGestión Pública, 2004. BibTeX.

    @book{Criado2004,
      title = {{Construyendo la Administraci{\'o}n Electr{\'o}nica Local. Las Tecnolog{\'i}as
      	de la Informaci{\'o}n y la Comunicaci{\'o}n e Internet en los Ayuntamientos
      	de la Comunidad de Madrid}},
      publisher = {EuroGesti{\'o}n P{\'u}blica},
      year = {2004},
      author = {Criado, J. Ignacio and Barrero, David F.},
      address = {Madrid, Spain}
    }
    

2003

1. M. D. R-Moreno, “Representing and Planning tasks with time and resources,” PhD thesis, Universidad de Alcalá, 2003. BibTeX.

   @phdthesis{R-Moreno2003thesis,
     author = {R-Moreno, M.~D.},
     title = {{Representing and Planning tasks with time and resources}},
     school = {Universidad de Alcalá},
     month = dec,
     year = {2003}
   }
   

2002

1. M. D. R-Moreno, M. Prieto, D. and Meziat, J. Medina, and C. Martín, “Controlling and Testing a Space Instrument by an AI planner,” in Procs. of the 5th International Conference on Enterprise Information Systems (ICEIS 2002), Ciudad-Real, Spain, 2002. BibTeX.

   @inproceedings{R-Moreno2002ICEIS,
     author = {R-Moreno, M.~D. and Prieto, M. and and Meziat, D. and Medina, J. and Martín, C.},
     title = {{Controlling and Testing a Space Instrument by an AI planner}},
     booktitle = {{Procs. of the 5th International Conference on Enterprise Information Systems (ICEIS 2002)}},
     address = {Ciudad-Real, Spain},
     year = {2002},
     webpdf = {/assets/pdfs/iceis2002.pdf}
   }
   

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2. M. D. R-Moreno, D. Borrajo, and D. Meziat, “An AI Tool for Planning Satellite Nominal Operations.,” in Workshop on AI Planning and Scheduling for Autonomy in Space Applications, Manchester, U.K., 2002. BibTeX.

   @inproceedings{R-Moreno2002AnAI,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{An AI Tool for Planning Satellite Nominal Operations.}},
     booktitle = {Workshop on {AI Planning and Scheduling for Autonomy in Space Applications}},
     address = {Manchester, U.K.},
     year = {2002},
     webpdf = {/assets/pdfs/waips2002.pdf}
   }
   

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3. M. D. R-Moreno, A. Oddi, D. Borrajo, A. Cesta, and D. Meziat, “Investigating the Integration of Planning and Scheduling: A First Step,” in The I Workshop on Planning, Scheduling and Temporal Reasoning, Seville, Spain, 2002. BibTeX.

   @inproceedings{R-Moreno2002Investigating,
     author = {R-Moreno, M.~D. and Oddi, A. and Borrajo, D. and Cesta, A. and Meziat, D.},
     title = {{Investigating the Integration of Planning and Scheduling: A First Step}},
     booktitle = {{The I Workshop on Planning, Scheduling and Temporal Reasoning}},
     address = {Seville, Spain},
     year = {2002},
     webpdf = {/assets/pdfs/wpstr2002.pdf}
   }
   

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4. M. D. R-Moreno, A. Oddi, D. Borrajo, A. Cesta, and D. Meziat, “Integrating Hybrid Reasoners for Planning and Scheduling,” in The 21st Workshop of the UK Planning and Scheduling (PLANSIG 2002), Delft, The Netherlands, 2002. BibTeX.

   @inproceedings{R-Moreno2002Integrating,
     author = {R-Moreno, M.~D. and Oddi, A. and Borrajo, D. and Cesta, A. and Meziat, D.},
     title = {{Integrating Hybrid Reasoners for Planning and Scheduling}},
     booktitle = {{The 21st Workshop of the UK Planning and Scheduling (PLANSIG 2002)}},
     address = {Delft, The Netherlands},
     year = {2002},
     webpdf = {/assets/pdfs/plansig2002.pdf}
   }
   

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5. M. D. R-Moreno and P. Kearney, “Integrating AI Planning with Workflow Management System,” International Journal of Knowledge-Based Systems, vol. 15, pp. 285–291, 2002. Publisher. DOI. Abstract. BibTeX.

   @article{R-Moreno2002IntegratingAI,
     author = {R-Moreno, M.~D. and Kearney, P.},
     title = {{Integrating AI Planning with Workflow Management System}},
     journal = {International Journal of Knowledge-Based Systems},
     publisher = {Elsevier},
     url = {http://www.sciencedirect.com/science/article/pii/S0950705101001678},
     doi = {10.1016/S0950-7051(01)00167-8},
     volume = {15},
     pages = {285--291},
     year = {2002},
     webpdf = {/assets/pdfs/ijkbs2002.pdf}
   }
   

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   There is a variety of applications that can benefit from the ability to find optimal or good solutions to a proposed problem, automatically. The artificial intelligent (AI) community has been actively involved in efficient problem-solving in complex domains such as military or spacecraft problems with successful results. In this paper, we describe the integration of AI planning techniques with an existing workflow management system. We show how these techniques can improve the overall system functionality and help automate the definition of business processes. The work is based on a short study carried out at BT research laboratories as part of a larger programme that aims to provide technologies for a new generation of business support systems.

6. D. F. Barrero and J. I. Criado, “Internet y Unix: 30 años de vidas paralelas,” Mundo Linux, vol. 43, pp. 60–64, 2002. BibTeX.

   @article{Barrero2002,
     author = {Barrero, David F. and Criado, J. Ignacio},
     title = {{Internet y Unix: 30 a{\~n}os de vidas paralelas}},
     journal = {{Mundo Linux}},
     year = {2002},
     volume = {43},
     pages = {60-64}
   }
   

7. M. D. R-Moreno and P. Kearney, “Let’s see What Happen if we Integrate AI Planning with Workflow Management System,” in 21st SGES International Conference on Knowledge Based Systems and Applied Artificial Intelligence, Cambridge, UK, 2002. BibTeX.

   @inproceedings{R-Moreno2001SGES,
     title = {Let’s see What Happen if we Integrate AI Planning with Workflow Management System},
     author = {R-Moreno, MD and Kearney, Paul},
     booktitle = {21st SGES International Conference on Knowledge Based Systems and Applied Artificial Intelligence},
     address = {Cambridge, UK},
     year = {2002},
     webpdf = {/assets/pdfs/seges2002.pdf}
   }
   

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2001

1. M. D. R-Moreno, D. Borrajo, and D. Meziat, “Applying an AI Planner to Schedule Ground Satellites Operations,” in Working notes of the IJCAI’01 Workshop on Planning with Resources, Seattle, WA, USA, 2001, pp. 66–67. BibTeX.

   @inproceedings{R-Moreno2001IJCAI,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{Applying an AI Planner to Schedule Ground Satellites Operations}},
     booktitle = {{Working notes of the IJCAI'01 Workshop on Planning with Resources}},
     publisher = {{IJCAI Press}},
     address = {Seattle, WA, USA},
     pages = {66-67},
     year = {2001},
     webpdf = {/assets/pdfs/ijcai2001.pdf}
   }
   

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2. M. D. R-Moreno, D. Borrajo, and D. Meziat, “Planning Based Generation of Process Models,” in Workshop on Planning and Scheduling Technologies in New Methods of Electronic Mobile and Collaborative Work (ECP 2001), Manchester, UK, 2001. BibTeX.

   @inproceedings{R-Moreno2001ECP,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{Planning Based Generation of Process Models}},
     booktitle = {{Workshop on Planning and Scheduling Technologies in New Methods of Electronic Mobile and Collaborative Work (ECP 2001)}},
     address = {Manchester, UK},
     year = {2001},
     webpdf = {/assets/pdfs/ecp2001.pdf}
   }
   

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3. M. D. R-Moreno, D. Borrajo, and D. Meziat, “An Artificial Intelligence Planner for Satellites Operations,” in 2001 ESA Workshop on On-Board Autonomy, Noordwijk, The Netherlands, 2001, pp. 233–240. BibTeX.

   @inproceedings{R-Moreno2001ESA,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{An Artificial Intelligence Planner for Satellites Operations}},
     booktitle = {{2001 ESA Workshop on On-Board Autonomy}},
     address = {Noordwijk, The Netherlands},
     pages = {233--240},
     year = {2001},
     webpdf = {/assets/pdfs/esa2001.pdf}
   }
   

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4. M. D. R-Moreno, M. Prieto, D. and Meziat, J. Medina, and C. Martín, “Control y testeo automático para un instrumento espacial embarcable en satélite,” in CAEPIA 2001, Oviedo, Spain, 2001. BibTeX.

   @inproceedings{R-Moreno2001CAEPIA,
     author = {R-Moreno, M.~D. and Prieto, M. and and Meziat, D. and Medina, J. and Martín, C.},
     title = {{Control y testeo automático para un instrumento espacial embarcable en satélite}},
     booktitle = {{CAEPIA 2001}},
     address = {{Oviedo, Spain}},
     year = {2001},
     webpdf = {/assets/pdfs/caepia2001.pdf}
   }
   

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5. J. I. Criado and D. F. Barrero, “Internet en los municipios de la Comunidad de Madrid: Un estudio comparativo.” Internal Report of the Comunidad de Madrid, 2001. BibTeX.

   @misc{Criado2001,
     author = {Criado, J. Ignacio and Barrero, David F.},
     title = {{Internet en los municipios de la Comunidad de Madrid: Un estudio
     	comparativo}},
     howpublished = {Internal Report of the Comunidad de Madrid},
     year = {2001}
   }
   

6. D. F. Barrero, “Internacionalización con Gettext,” Sólo Programadores Mundo Linux, vol. 36, 2001. BibTeX.

   @article{Barrero2001,
     author = {Barrero, David F.},
     title = {Internacionalizaci{\'o}n con Gettext},
     journal = {S{\'o}lo Programadores Mundo Linux},
     year = {2001},
     volume = {36},
     pages = {}
   }
   

2000

1. M. D. R-Moreno, D. Borrajo, and D. Meziat, “Transforming Business Processes Modelling into Planning Problems,” PLANET News Letter, vol. 2, pp. 10–12, 2000. BibTeX.

   @article{R-Mmoreno2000PLANET,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{Transforming Business Processes Modelling into Planning Problems}},
     journal = {PLANET News Letter},
     volume = {2},
     pages = {10--12},
     year = {2000},
     webpdf = {/assets/pdfs/planet2000.pdf}
   }
   

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2. M. D. R-Moreno, D. Borrajo, and D. Meziat, “Process Modelling and AI Planning Techniques: A New Approach,” in Second International Workshop on Information Integration and Web-based Applications and Services (IIWAS2000), Yogyakarta, Indonesia, 2000. BibTeX.

   @inproceedings{R-Moreno2000IIWAS,
     author = {R-Moreno, M.~D. and Borrajo, D. and Meziat, D.},
     title = {{Process Modelling and AI Planning Techniques: A New Approach}},
     booktitle = {{Second International Workshop on Information Integration and Web-based Applications and Services (IIWAS2000)}},
     address = {Yogyakarta, Indonesia},
     year = {2000},
     webpdf = {/assets/pdfs/iiwas2000.pdf}
   }
   

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3. M. D. R-Moreno, P. Kearney, and D. Meziat, “A Case Study: Using Workflow and AI planners.,” in Procs. of the 19th Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG2000), Milton Keynes, UK, 2000. BibTeX.

   @inproceedings{R-Moreno2000PLAN,
     author = {R-Moreno, M.~D. and Kearney, P. and Meziat, D.},
     title = {{A Case Study: Using Workflow and AI planners.}},
     booktitle = {{Procs. of the 19th Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG2000)}},
     address = {Milton Keynes, UK},
     year = {2000},
     webpdf = {/assets/pdfs/plansig2000.pdf}
   }
   

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