Papers by Wheeler Ruml

The list is roughly ordered by year, although I've grouped some related work together. If you have trouble finding something, send me email and I'll be happy to send you a copy. You can also try DBLP (only includes computer science) or Google Scholar.

2025

• Jan Eisenhut, Daniel Fiser, Wheeler Ruml and Joerg Hoffmann, Is This a Good Decision? Action Optimality Checking in Classical Planning, Proceedings of the Twenty-eighth European Conference on Artificial Intelligence (ECAI-25), 2025.

• Devin Thomas and Wheeler Ruml, Real-time Cost-algebraic Heuristic Search, Proceedings of the Eighteenth International Symposium on Combinatorial Search (SoCS-25), 2025.

• Andrew Coles, Erez Karpas, Solomon Eyal Shimony, Shahaf S. Shperberg, and Wheeler Ruml, Concurrent Planning and Execution Using Dispatch-Dependent Values, Proceedings of the Thirty-fourth International Joint Conference on Artificial Intelligence (IJCAI-25), 2025.

• Benjamin A. Miller, Zohair Shafi, Wheeler Ruml, Yevgeniy Vorobeychik, Tina Eliassi-Rad, and Scott Alfeld, Defense Against Shortest Path Attacks, SIAM International Conference on Data Mining (SDM-25), 2025.

2024

• Devin Wild Thomas, Wheeler Ruml, and Solomon Eyal Shimony, Real-time Safe Interval Path Planning, Proceedings of the Seventeenth International Symposium on Combinatorial Search (SoCS-24), 2024. Winner of the best paper award!

• Stephen Wissow, Fanhao Yu, and Wheeler Ruml, Tunable Suboptimal Heuristic Search, Proceedings of the Seventeenth International Symposium on Combinatorial Search (SoCS-24), 2024.

• Andrew Coles, Erez Karpas, Andrey Lavrinenko, Wheeler Ruml, Solomon Eyal Shimony, and Shahaf S. Shperberg, Planning and Acting While the Clock Ticks, Proceedings of the Thirty-fourth International Conference on Automated Planning and Scheduling (ICAPS-24), 2024.

• Issa K. Hanou, Devin Wild Thomas, Wheeler Ruml, and Mathijs de Weerdt, Replanning in Advance for Instant Delay Recovery in Multi-agent Applications: Rerouting Trains in a Railway Hub, Proceedings of the Thirty-fourth International Conference on Automated Planning and Scheduling (ICAPS-24), 2024.

• Sean Mariasin, Andrew Coles, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony, and Shahaf Shperberg, Evaluating Distributional Predictions of Search Time: Put Up or Shut Up Games, Proceedings of the ICAPS-24 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP-24), 2024.
  • A summary of this work appeared as Sean Mariasin, Andrew Coles, Erez Karpas, Wheeler Ruml, Solomon Eyal Shimony, and Shahaf Shperberg, Evaluating Distributional Predictions of Search Time: Put Up or Shut Up Games (Extended Abstract), Proceedings of the Seventeenth International Symposium on Combinatorial Search (SoCS-24), 2024.

• Caleb K. Hill, Stephen Wissow, and Wheeler Ruml, Comparing Planners: Beyond Coverage Tables, Proceedings of the ICAPS-24 Workshop on the International Planning Competition (WIPC-24), 2024.

• Sofia Lemons, Wheeler Ruml, Robert Holte, and Carlos Linares López, Rectangle Search: An Anytime Beam Search, Proceedings of the Thirty-eighth AAAI Conference on Artificial Intelligence (AAAI-24) , 2024. Additional plots are available in the appendix of the arXiv edition.
  • Preliminary work in this direction appeared as Sofia Lemons, Wheeler Ruml, Carlos Linares López, and Robert Holte, Triangle Search: An Anytime Beam Search, Proceedings of the ICAPS-23 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP-23), 2023.

2023

• Benjamin A. Miller, Zohair Shafi, Wheeler Ruml, Yevgeniy Vorobeychik, Tina Eliassi-Rad, and Scott Alfeld, Attacking Shortest Paths by Cutting Edges, ACM Transactions on Knowledge Discovery from Data (TKDD), volume 18, issue 2, article 35, pp 1-42, 2023.
  • A preliminary version appeared as Benjamin Miller, Zohair Shafi, Wheeler Ruml, Yevgeniy Vorobeychik, Tina Eliassi-Rad and Scott Alfeld, PATHATTACK: Attacking Shortest Paths in Complex Networks, Proceedings of the European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECML-PKDD-21), 2021. Also available are the supplemental appendices.

• Bryan McKenney and Wheeler Ruml, General-Purpose Planning Algorithms in the Card Game Duelyst II, Proceedings of the IEEE Conference on Games (CoG-23), 2023.

• Devin Wild Thomas, Solomon Eyal Shimony, Wheeler Ruml, Erez Karpas, Shahaf S. Shperberg, and Andrew Coles, Any-Start-Time Planning for SIPP, Proceedings of the ICAPS-23 Workshop on Heuristics and Search for Domain-Independent Planning (HSDIP-23), 2023.

• Naiqian Zhang, Daroc Alden, Dongpeng Xu, Shuai Wang, Trent Jaeger, and Wheeler Ruml, No Free Lunch: On the Increased Code Reuse Attack Surface of Obfuscated Programs, The Fifty-third Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN-23), 2023.
  • A slightly condensed version was presented as Naiqian Zhang, Daroc Alden, Dongpeng Xu, Shuai Wang, Trent Jaeger and Wheeler Ruml, Using Planning to Construct Code Reuse Attacks in Obfuscated Programs at the ICAPS-23 Scheduling and Planning Applications Workshop (SPARK-23), 2023.

• Amihay Elboher, Ava Bensoussan, Erez Karpas, Wheeler Ruml, Shahaf S. Shperberg, and Solomon E. Shimony, A Formal Metareasoning Model of Concurrent Planning and Execution, Proceedings of the Thirty-seventh AAAI Conference on Artificial Intelligence (AAAI-23), 2023.
  • A preliminary version appeared as Amihay Elboher, Shahaf S. Shperberg, Solomon E. Shimony, and Wheeler Ruml, Metareasoning for Interleaved Planning and Execution, Proceedings of the ICAPS-21 Workshop on Integrated Planning, Acting, and Execution (IntEx-21), 2021.

  • Further work in this direction appeared as Ava Bensoussan, Eyal Shlomo Shimony, Shahaf S. Shperberg, and Wheeler Ruml, A Formal Model of Concurrent Planning and Execution with Action Costs, Proceedings of the ICAPS-22 Workshop on Heuristics and Search for Domain-independent Planning (HSDIP-22), 2022.

• Bryan McKenney and Wheeler Ruml, Goal-driven Autonomy Without GDA, Proceedings of the AAAI-23 Bridge Session on Artificial Intelligence and Robotics, 2023.
  • This work is also covered in Bryan McKenney, General-Purpose Planning Algorithms in Partially-Observable Stochastic Games, BS thesis, University of New Hampshire, 2023.

2022

• Tianyi Gu, Wheeler Ruml, Shahaf Shperberg, Eyal Shlomo Shimony and Erez Karpas, When to Commit to an Action in Online Planning and Search, Proceedings of the Symposium on Combinatorial Search (SoCS-22), 2022.
  • An earlier version of this work was published as Tianyi Gu, Wheeler Ruml, Shahaf Shperberg, Eyal Shlomo Shimony, and Erez Karpas, When to Commit to an Action in Online Planning, Proceedings of the ICAPS-21 Workshop on Integrated Planning, Acting, and Execution (IntEx-21), 2021.

• Wheeler Ruml, Suboptimal Heuristic Search, an invited 'master class' given at the Fifteenth International Symposium on Combinatorial Search (SoCS-22), July 2022.

• Sofia Lemons, Carlos Linares López, Robert C. Holte, and Wheeler Ruml, Trading Monotonicity for Cost in Beam Search, Proceedings of the ICAPS-22 Workshop on Heuristics and Search for Domain-independent Planning (HSDIP-22), 2022.
  • This work builds on Sofia Lemons, Carlos Linares López, Robert C. Holte, and Wheeler Ruml, Beam Search: Faster and Monotonic, Proceedings of the Thirty-second International Conference on Automated Planning and Scheduling (ICAPS-22), 2022.

• Wheeler Ruml, Writing Papers and Giving Talks, invited talk at the ICAPS-22 Doctoral Consortium. The video recording is available here.

• Maximilian Fickert, Tianyi Gu, and Wheeler Ruml, New Results in Bounded-Suboptimal Search, Proceedings of the Thirty-sixth AAAI Conference on Artificial Intelligence (AAAI-22), 2022.
  Note (Fall 2024): Nathan Sturtevant has found bugs in the code used for the classic search benchmark experiments in this paper! (The classical planning benchmarks were implemented separately.) The results are correctly reported but the round robin algorithms were not performing the steps described in the paper. Please stay tuned (feel free to contact me) for updated results!

2021

• Tianyi Gu, Metareasoning for Heuristic Search Using Uncertainty, PhD dissertation, University of New Hampshire, 2021. Much of Tianyi's code is available here.

• Maximilian Fickert, Tianyi Gu, and Wheeler Ruml, Bounded-cost Search Using Estimates of Uncertainty, Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI-21), 2021.

• Kevin C. Gall, Wheeler Ruml, and Sarah Keren, Active Goal Recognition Design, Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI-21), 2021.
  • More detail can be found in Kevin C. Gall, Active Goal Recognition Design, MS thesis, University of New Hampshire, 2021.

• Shahaf S. Shperberg, Andrew Coles, Erez Karpas, Wheeler Ruml, and Solomon Eyal Shimony, Situated Temporal Planning Using Deadline-aware Metareasoning, Proceedings of the Thirty-first International Conference on Automated Planning and Scheduling (ICAPS-21), 2021.

• Maximilian Fickert, Ivan Gavran, Ivan Fedotov, Joerg Hoffmann, Rupak Majumdar, and Wheeler Ruml, Choosing the Initial State for Online Replanning, Proceedings of the Thirty-fifth AAAI Conference on Artificial Intelligence (AAAI-21), 2021.

• Jiaoyang Li, Wheeler Ruml, and Sven Koenig, EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding, Proceedings of the Thirty-fifth AAAI Conference on Artificial Intelligence (AAAI-21), 2021.

2020

• Matthew Westbrook and Wheeler Ruml, Anytime Kinodynamic Motion Planning using Region-Guided Search, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-20), 2020.

• Alexander F. Brown, Real Time Motion Planning for Path Coverage with Applications in Ocean Surveying, MS thesis, University of New Hampshire, 2020.

• Shahaf S. Shperberg, Andrew Coles, Erez Karpas, Eyal Shimony, and Wheeler Ruml, Trading Plan Cost for Timeliness in Situated Temporal Planning, Proceedings of the International Joint Conference on Artificial Intelligence - Pacific Rim International Conference on Artificial Intelligence (IJCAI-PRICAI-20), 2020.
  • The IJCAI-20 work builds on Shahaf Shperberg, Andrew Coles, Bence Cserna, Erez Karpas, Wheeler Ruml, and Solomon Eyal Shimony, Allocating Search Effort When Actions Expire, Proceedings of the Thirty-third AAAI Conference on Artificial Intelligence (AAAI-19), 2019. The talk slides are available.

• Daroc Alden, Exploiting More Binaries by Using Planning to Assemble ROP Attacks, MS thesis, University of New Hampshire, 2020.

• Brendan McGuirk, Assigning Students to Groups Based on Preference and Traits, MS thesis, University of New Hampshire, 2020.

• Kevin C. Gall, Bence Cserna, and Wheeler Ruml, Envelope-based Approaches to Real-Time Heuristic Search, Proceedings of the Thirty-fourth AAAI Conference on Artificial Intelligence (AAAI-20), 2020.

• Maximilian Fickert, Tianyi Gu, Leonhard Staut, Sai Lekyang, Wheeler Ruml, Joerg Hoffmann, and Marek Petrik, Real-time Planning as Data-driven Decision-making, Proceedings of the ICAPS Workshop on Bridging the Gap Between AI Planning and Reinforcement Learning (PRL-20), 2020.
  • Earlier work on this topic appeared as Maximilian Fickert, Tianyi Gu, Leonhard Staut, Wheeler Ruml, Joerg Hoffmann, and Marek Petrik, Beliefs We Can Believe In: Replacing Assumptions with Data in Real-Time Search, Proceedings of the Thirty-fourth AAAI Conference on Artificial Intelligence (AAAI-20), 2020. Also available are Tianyi's talk slides.

  • The original paper on this work was Andrew Mitchell, Wheeler Ruml, Fabian Spaniol, Joerg Hoffmann, and Marek Petrik, Real-time Planning as Decision-making Under Uncertainty, Proceedings of the Thirty-third AAAI Conference on Artificial Intelligence (AAAI-19), 2019.

  • For more details, see Andrew Mitchell, Real-time Planning as Decision-making Under Uncertainty, MS thesis, University of New Hampshire, 2018. Also available are Andrew's defense slides.

2019

• Jingwei Chen, Nathan R. Sturtevant, William Doyle, and Wheeler Ruml, Revisiting Suboptimal Search, Proceedings of the Twelfth International Symposium on Combinatorial Search (SoCS-19), 2019.

• Bence Cserna, Kevin C. Gall, and Wheeler Ruml, Improved Safe Real-time Heuristic Search, Proceedings of the Twelfth International Symposium on Combinatorial Search (SoCS-19), 2019. More detail is available in the arXiv version.
  • Earlier work in a driving context appeared as Bence Cserna, William J. Doyle, Tianyi Gu, and Wheeler Ruml, Safe Temporal Planning for Urban Driving, Proceedings of the AAAI-19 Workshop on Artificial Intelligence Safety (SafeAI-19), 2019.

  • Our first work on this topic appeared as Bence Cserna, William J. Doyle, Jordan S. Ramsdell, and Wheeler Ruml, Avoiding Dead Ends in Real-time Heuristic Search, Proceedings of the Thirty-Second AAAI Conference on Artificial Intelligence (AAAI-18), 2018.

• Chao Chi Cheng and Wheeler Ruml, Real-time Heuristic Search in Dynamic Environments, Proceedings of the Twelfth International Symposium on Combinatorial Search (SoCS-19), 2019.
  • For details, see Chao Chi Cheng, Real-time Heuristic Search in Dynamic Environments, BS thesis, University of New Hampshire, 2019.

• Andrew Coles, Shahaf S. Shperberg, Erez Karpas, Solomon Eyal Shimony, and Wheeler Ruml, Beyond Cost-to-go Estimates in Situated Temporal Planning, Proceedings of the ICAPS-19 Workshop on Heuristics and Search for Domain-independent Planning (HSDIP-19), 2019. Talk slides are also available.

• Brian Cawley, Quantization in Suboptimal Heuristic Search, BS thesis, University of New Hampshire, 2019.

• Bence Cserna, Real-time Planning for Robots, PhD dissertation, University of New Hampshire, 2019. Much of Bence's code is available here.

• Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml, Replanning for Situated Robots, Proceedings of the Twenty-ninth International Conference on Automated Planning and Scheduling (ICAPS-19), 2019.

• Rebecca Eifler, Maximilian Fickert, Joerg Hoffmann, and Wheeler Ruml, Refining Abstraction Heuristics During Real-Time Planning, Proceedings of the Thirty-third AAAI Conference on Artificial Intelligence (AAAI-19), 2019.

2018

• Shane Kochvi and Wheeler Ruml, Does Fast Beat Thorough?: Comparing LSS-LRTA* and RTAA*, Proceedings of the Symposium on Combinatorial Search (SoCS-18), 2018.
  • For more details, see Shane Kochvi, Does Fast Beat Thorough?: Comparing Real-Time Search Algorithms LSS-LRTA* and RTAA*, BS thesis, University of New Hampshire, 2017.

• Matthew Hatem, Ethan Burns, and Wheeler Ruml, Solving Large Problems with Heuristic Search: General-Purpose Parallel External-Memory Search, Journal of Artificial Intelligence Research, 62, pp. 233-268, 2018. Much of Matt's code is available here.

• Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml, Temporal Planning While the Clock Ticks, Proceedings of the Twenty-eighth International Conference on Automated Planning and Scheduling (ICAPS-18), 2018.
  • An earlier version appeared as Michael Cashmore, Andrew Coles, Bence Cserna, Erez Karpas, Daniele Magazzeni, and Wheeler Ruml, Situated Planning for Execution Under Temporal Constraints, AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy (SIRLE-18), 2018.

• Alison Paredes and Wheeler Ruml, Real-Time Planning for Traffic Signal Control, Proceedings of the AAAI-18 Workshop on AI Enhanced IoT Data Processing for Intelligent Applications (SmartIoT), 2018.

2017

• Scott Kiesel, Tianyi Gu, and Wheeler Ruml, An Effort Bias for Sampling-based Motion Planning, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-17), 2017.
  • An earlier version appeared as Scott Kiesel and Wheeler Ruml, A Bayesian Effort Bias for Sampling-based Motion Planning, Proceedings of the ICAPS-16 Workshop on Planning and Robotics (PlanRob-16), 2016. Explanatory video.

• Bence Cserna, Marek Petrik, Reazul Hasan Russel, and Wheeler Ruml, Value Directed Exploration in Multi-Armed Bandits with Structured Priors, Proceedings of the Thirty-third Conference on Uncertainty in Artificial Intelligence (UAI-17), 2017.

• Bence Cserna, Wheeler Ruml, and Jeremy Frank, Planning Time to Think: Metareasoning for On-line Planning with Durative Actions, Proceedings of the Twenty-seventh International Conference on Automated Planning and Scheduling (ICAPS-17), 2017. If you like this, see the PlanRob-15 paper below.

• Alison Paredes and Wheeler Ruml, Goal Reasoning as Multilevel Planning, Proceedings of the ICAPS-17 Workshop on Integrated Execution of Planning and Acting (IntEx-17), 2017.

2016

• Christopher Wilt and Wheeler Ruml, Effective Heuristics for Suboptimal Best-First Search, Journal of Artificial Intelligence Research, 57, pp. 273-306, 2016.
  • Christopher Wilt and Wheeler Ruml, Building a Heuristic for Greedy Search, Proceedings of the Symposium on Combinatorial Search (SoCS-15), 2015. talk slides.

  • Christopher Wilt and Wheeler Ruml, When does Weighted A* Fail?, Proceedings of the Symposium on Combinatorial Search (SoCS-12), 2012. Chris' talk slides.

• Scott Kiesel, Robotics Needs Non-classical Planning, PhD dissertation, University of New Hampshire, 2016. Much of Scott's code is available here.

• Bence Cserna, Michael Bogochow, Stephen Chambers, Michaela Tremblay, Sammie Katt, and Wheeler Ruml, Anytime versus Real-time Heuristic Search for On-line Planning, Proceedings of the Symposium on Combinatorial Search (SoCS-16), 2016.

2015

• Dylan O'Ceallaigh and Wheeler Ruml, Metareasoning in Real-time Heuristic Search, Proceedings of the Symposium on Combinatorial Search (SoCS-15), 2015. Winner of the best student paper award! (See the next entry for talk slides.)
  • A mildly augmented version entitled Metareasoning for Concurrent Planning and Acting appears in the Proceedings of the ICAPS-15 Workshop on Planning and Robotics (PlanRob-15). talk slides.

• Alon Palombo, Roni Stern, Rami Puzis, Ariel Felner, Scott Kiesel, and Wheeler Ruml, Solving the Snake in the Box Problem with Heuristic Search: First Results, Proceedings of the Symposium on Combinatorial Search (SoCS-15), 2015.

• Scott Kiesel, Ethan Burns, and Wheeler Ruml, Achieving Goals Quickly Using Real-time Search: Experimental Results in Video Games, Journal of Artificial Intelligence Research, 54, pp. 123-158, 2015.
  • A preliminary version appeared as: Ethan Burns, Scott Kiesel, and Wheeler Ruml, Experimental Real-Time Heuristic Search Results in a Video Game, Proceedings of the Symposium on Combinatorial Search (SoCS-13), 2013.

• Matthew Hatem, Scott Kiesel, and Wheeler Ruml, Recursive Best-First Search with Bounded Overhead, Proceedings of the Twenty-ninth AAAI Conference on Artificial Intelligence (AAAI-15), 2015. Matt's talk slides.

2014

• Dylan O'Ceallaigh, Metareasoning in Real-time Heuristic Search, MS thesis, University of New Hampshire, 2014.

• Christopher Wilt and Wheeler Ruml, Speedy Versus Greedy Search, Proceedings of the Symposium on Combinatorial Search (SoCS-14), 2014. Winner of the best student paper award!

• Roni Stern, Scott Kiesel, Rami Puzis, Ariel Felner, and Wheeler Ruml, Max is More than Min: Solving Maximization Problems with Heuristic Search, Proceedings of the Symposium on Combinatorial Search (SoCS-14), 2014. Winner of the best paper award!

• Matthew Hatem and Wheeler Ruml, Bounded Suboptimal Search in Linear Space: New Results, Proceedings of the Symposium on Combinatorial Search (SoCS-14), 2014.

• Matthew Hatem and Wheeler Ruml, Simpler Bounded Suboptimal Search, Proceedings of the Twenty-eighth AAAI Conference on Artificial Intelligence (AAAI-14), 2014.

• Scott Kiesel and Wheeler Ruml, Planning Under Temporal Uncertainty Using Hindsight Optimization, Proceedings of the ICAPS-14 Workshop on Planning and Robotics (PlanRob-14), 2014.

• Matthew Hatem, Heuristic Search with Limited Memory, PhD dissertation, University of New Hampshire, 2014. Much of Matt's code (Java) is available here.

• Christopher Wilt, Steps Towards a Science of Heuristic Search, PhD dissertation, University of New Hampshire, 2014.

• Jarad Cannon, Kevin Rose, and Wheeler Ruml, Real-time Heuristic Search for Motion Planning with Dynamic Obstacles, AI Communications, volume 27, number 4, pages 345-362, 2014.
  • An earlier version appeared as: Jarad Cannon, Kevin Rose, and Wheeler Ruml, Real-time Motion Planning with Dynamic Obstacles, Proceedings of the Symposium on Combinatorial Search (SoCS-12), 2012. talk slides.

  • For more details: Jarad Cannon, Robot Motion Planning Using Real-time Heuristic Search, MS thesis, University of New Hampshire, 2011 and Kevin Rose, Real-time Sampling-based Motion Planning with Dynamic Obstacles, MS thesis, University of New Hampshire, 2011. Here's a video of PLRTA* in simulation.

2013

• Matthew Hatem and Wheeler Ruml, External Memory Best-First Search for Multiple Sequence Alignment, Proceedings of the Twenty-seventh AAAI Conference on Artificial Intelligence (AAAI-13), 2013.

• Christopher Wilt and Wheeler Ruml, Robust Bidirectional Search via Heuristic Improvement, Proceedings of Twenty-seventh AAAI Conference on Artificial Intelligence (AAAI-13), 2013.

• Matthew Hatem, Roni Stern, and Wheeler Ruml, Bounded Suboptimal Heuristic Search in Linear Space, Proceedings of the Symposium on Combinatorial Search (SoCS-13), 2013.

• Scott Kiesel, Ethan Burns, Wheeler Ruml, J. Benton, and Frank Kreimendahl, Open World Planning for Robots via Hindsight Optimization, Proceedings of the ICAPS-13 Workshop on Planning and Robotics (PlanRob-13), 2013. Scott's talk slides.

• Ethan Burns, Wheeler Ruml, and Minh Do, Heuristic Search When Time Matters, Journal of Artificial Intelligence Research, volume 47, pages 697-740, 2013.
  • An earlier version of this work appeared as: Wheeler Ruml and Minh B. Do, Best-first Utility-Guided Search, Proceedings of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI-07), 2007. talk slides.

  • An even earlier version appeared as: Wheeler Ruml and Elisabeth H. Crawford, Best-first Utility-Guided Search, Working Notes of the IJCAI-05 Workshop on Planning and Learning in A Priori Unknown or Dynamic Domains, 2005.

• Matthew Hatem, Ethan Burns, and Wheeler Ruml, Problem Solving with Heuristic Search and Java, IBM developerWorks, July, 2013. The website has source code and translations into Chinese, Japanese, and Russian.

• Ethan Burns, Planning Under Time Pressure, PhD dissertation, University of New Hampshire, 2013. Much of Ethan's code (C++) is available here.

• Frank Kreimendahl, Stacker Crane Problem State Space Reduction, MS thesis, University of New Hampshire, 2013.

• Ethan Burns and Wheeler Ruml, Iterative-deepening search with on-line tree size prediction, Annals of Mathematics and Artificial Intelligence, volume 69, number 2, pages 183-205, 2013.
  • An earlier version appeared as: Ethan Burns and Wheeler Ruml, Iterative-Deepening Search with On-line Tree Size Prediction, Proceedings of the Sixth International Conference on Learning and Intelligent Optimization (LION), 2012. Ethan's talk slides.

• Lara S. Crawford, Minh Binh Do, Wheeler Ruml, Haitham A. Hindi, Craig Eldershaw, Rong Zhou, Lukas D. Kuhn, Markus P. J. Fromherz, David Biegelsen, Johan de Kleer, and Daniel Larner, On-Line Reconfigurable Machines, AI Magazine, volume 34, number 3, pages 73-88, 2013. This paper gives the big picture and an overview of the project.
  • Details of the planning aspects: Wheeler Ruml, Minh B. Do, Rong Zhou, and Markus P.J. Fromherz, On-line Planning and Scheduling: An Application to Controlling Modular Printers, Journal of Artificial Intelligence Research, volume 40, pages 415-468, 2011.

  • A summary with an emphasis on hardware: David Biegelsen, Lara Crawford, Minh Do, Dave Duff, Craig Eldershaw, Markus Fromherz, Haitham Hindi, Greg Kott, Dan Larner, Barry Mandel, Steve Moore, Bryan Preas, Wheeler Ruml, Greg Schmitz, Lars Swartz, and Rong Zhou, Integrated Parallel Printing Systems with Hypermodular Architecture, IS&T/SPIE Conference on Electronic Imaging Symposium on Parallel Processing for Imaging Applications, 2011.

  • A short summary of the planning aspects: Minh B. Do, Wheeler Ruml, and Rong Zhou, On-line Planning and Scheduling: An Application to Controlling Modular Printers, Proceedings of the Twenty-third AAAI Conference on Artificial Intelligence (AAAI-08), 2008.

  • Additional planning aspects: Minh B. Do, Wheeler Ruml, and Rong Zhou, Planning for Modular Printers: Beyond Productivity, Proceedings of the Eighteenth International Conference on Automated Planning and Scheduling (ICAPS-08), 2008.

  • The central planning ideas: Wheeler Ruml, Minh B. Do, and Markus P. J. Fromherz, On-line Planning and Scheduling for High-speed Manufacturing, Proceedings of the Fifteenth International Conference on Automated Planning and Scheduling (ICAPS-05), 2005. Winner of the ICAPS-05 Best Application Paper Award!

  • Early work appeared as: Wheeler Ruml and Markus P. J. Fromherz, On-line Planning and Scheduling in a High-speed Manufacturing Domain, Proceedings of the ICAPS-04 Workshop on Integrating Planning into Scheduling, 2004.

• Wheeler Ruml, Job Hunting in Industry and Academia, invited talk at the ICAPS-08, ICAPS-10, and ICAPS-13 Doctoral Consortia.

2012

• Chris Sexton, Anytime Solving by Solution Refinement, MS thesis, University of New Hampshire, 2012.

• Ethan Burns, Matthew Hatem, Michael J. Leighton, and Wheeler Ruml, Implementing Fast Heuristic Search Code, Proceedings of the Symposium on Combinatorial Search (SoCS-12), 2012. Ethan's code for the paper and up-to-date code on GitHub.

• I'm not a co-author, but I highly recommend: Jordan Thayer, J. Benton, and Malte Helmert, Better Parameter-free Anytime Search by Minimizing Time Between Solutions, Proceedings of the Symposium on Combinatorial Search (SoCS-12), 2012.

• Scott Kiesel, Ethan Burns, and Wheeler Ruml, Abstraction-guided Sampling for Motion Planning, UNH CS Technical Report 12-01, 2012.
  • A shorter version of this paper was published as: Scott Kiesel, Ethan Burns, and Wheeler Ruml, Abstraction-guided Sampling for Motion Planning, Symposium on Combinatorial Search (SoCS-12), 2012.

• Nathan R. Sturtevant, Ariel Felner, Maxim Likhachev, Wheeler Ruml, Heuristic Search Comes of Age (invited paper), Proceedings of the Twenty-sixth AAAI Conference on Artificial Intelligence (AAAI-12), 2012.

• Jordan Thayer, Roni Stern, Ariel Felner, and Wheeler Ruml, Faster Bounded-Cost Search Using Inadmissible Estimates, Proceedings of the Twenty-second International Conference on Automated Planning and Scheduling (ICAPS-12), 2012. Jordan's talk slides.

• Scott Kiesel, Ethan Burns, Christopher Wilt, and Wheeler Ruml, Integrating Vehicle Routing and Motion Planning, Proceedings of the Twenty-second International Conference on Automated Planning and Scheduling (ICAPS-12), 2012. Scott's talk slides.

• Ethan Burns, J. Benton, Wheeler Ruml, Minh Do, and Sungwook Yoon, Anticipatory On-line Planning, Proceedings of the Twenty-second International Conference on Automated Planning and Scheduling (ICAPS-12), 2012. Ethan's talk slides.
  • An earlier iteration of this work was published as: Allen Hubbe, Wheeler Ruml, Sungwook Yoon, J. Benton, and Minh B. Do, On-line Anticipatory Planning, Proceedings of the ICAPS-08 Workshop on A Reality Check for Planning and Scheduling Under Uncertainty, 2008.

• Jordan Thayer, Heuristic Search Under Time and Quality Bounds, PhD dissertation, University of New Hampshire, 2012.

• Mike Leighton, Faster Optimal and Suboptimal Hierarchical Search, MS thesis, University of New Hampshire, 2012.

2011

• Wheeler Ruml, Planning Algorithms: When Optimal Just Isn't Good Enough, an invited talk given at the University of Massachusetts Lowell (November, 2011), Tufts University (September, 2012), Harvard University (September, 2012), and Vassar College (November, 2012).

• Michael J. Leighton, Wheeler Ruml, and Robert C. Holte, Faster Optimal and Suboptimal Hierarchical Search, Proceedings of the Symposium on Combinatorial Search (SoCS-11), 2011.

• Austin J. Dionne, Jordan T. Thayer, and Wheeler Ruml, Deadline-Aware Search Using On-line Measures of Behavior, Proceedings of the Symposium on Combinatorial Search (SoCS-11), 2011. Here's Jordan's poster and a few talk slides. If you are interested in this topic, you might also want to see: Austin Dionne, Heuristic Search Under a Deadline, MS Thesis, University of New Hampshire, or the accompanying MS defense slides.

• Christopher Wilt and Wheeler Ruml, Cost-Based Heuristic Search is Sensitive to the Ratio of Operator Costs, Proceedings of the Symposium on Combinatorial Search (SoCS-11), 2011.

• Kevin Rose, Ethan Burns, and Wheeler Ruml, Best-first Search for Bounded-depth Trees, Proceedings of the Symposium on Combinatorial Search (SoCS-11), 2011.

• Wheeler Ruml, Search Algorithms as Agents, an invited talk given at the Symposium on Combinatorial Search (SoCS-11), July 2011.

• Matthew Hatem, Ethan Burns, and Wheeler Ruml, Heuristic Search for Large Problems With Real Costs, Proceedings of the Twenty-fifth AAAI Conference on Artificial Intelligence (AAAI-11), 2011. Matt's talk slides.

• Jordan T. Thayer, Austin Dionne, and Wheeler Ruml, Learning Inadmissible Heuristics During Search, Proceedings of the Twenty-first International Conference on Automated Planning and Scheduling (ICAPS-11), 2011. Jordan's talk slides and a nice recorded video of his presentation at ICAPS.

• Jordan T. Thayer and Wheeler Ruml, Using Solution Length Estimates in Heuristic Search, a tutorial given at the Twenty-first International Conference on Automated Planning and Scheduling (ICAPS-11), June 2011.

• Jordan T. Thayer and Wheeler Ruml, A Survey of Suboptimal Search Algorithms, a tutorial given at the Twenty-first International Conference on Automated Planning and Scheduling (ICAPS-11), June 2011.

• Jordan T. Thayer and Wheeler Ruml, Bounded Suboptimal Search: A Direct Approach Using Inadmissible Estimates, Proceedings of the Twenty-second International Joint Conference on Artificial Intelligence (IJCAI-11), 2011. Jordan's talk slides. A recording of his talk is available here.
  • A preliminary summary appeared as Jordan Thayer and Wheeler Ruml, Finding Acceptable Solutions Faster Using Inadmissible Information, Proceedings of the Symposium on Combinatorial Search (SoCS-10), 2010. Jordan's talk slides.

  • A longer preliminary version was made available as UNH CS Technical Report 10-01, 2010.

2010

• Ethan Burns, Sofia Lemons, Wheeler Ruml, and Rong Zhou, Best-First Heuristic Search for Multicore Machines, Journal of Artificial Intelligence Research, volume 39, pages 689-743, 2010.
  • A summary of this work appeared as: Ethan Burns, Sofia Lemons, Wheeler Ruml, and Rong Zhou, Parallel Best-First Search: The Role of Abstraction, Proceedings of the AAAI-10 Workshop on Abstraction, Reformulation, and Approximation (WARA-10), 2010. Ethan's talk slides.

  • An earlier summary appeared as: Ethan Burns, Sofia Lemons, Wheeler Ruml, and Rong Zhou, Parallel Best-First Search: Optimal and Suboptimal Solutions, Proceedings of the International Symposium on Combinatorial Search (SoCS-09), 2009. Sofia's talk slides.

  • Some of the work appeared as: Ethan Burns, Sofia Lemons, Wheeler Ruml, and Rong Zhou, Suboptimal and Anytime Heuristic Search on Multi-Core Machines, Proceedings of the Nineteenth International Conference on Automated Planning and Scheduling (ICAPS-09) , 2009. Ethan's talk slides.

  • The first paper on this work was: Ethan Burns, Sofia Lemons, Rong Zhou, and Wheeler Ruml, Best-First Heuristic Search for Multi-Core Machines, Proceedings of the Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09), 2009. Ethan's talk slides.

• Wheeler Ruml, The Logic of Benchmarking: A Case Against State-of-the-Art Performance, Proceedings of the Symposium on Combinatorial Search (SoCS-10), 2010. talk slides.

• David M. Bond, Niels A. Widger, Wheeler Ruml and Xiaoxun Sun, Real-Time Search in Dynamic Worlds, Proceedings of the Symposium on Combinatorial Search (SoCS-10), 2010. David's talk slides. Videos: LSS-LRTA*, D*lite, Real-time D*, Real-time D* again.

• Jordan Thayer and Wheeler Ruml, Anytime Heuristic Search: Frameworks and Algorithms, Proceedings of the Symposium on Combinatorial Search (SoCS-10), 2010. Jordan's Poster.

• Christopher Wilt, Jordan Thayer and Wheeler Ruml, A Comparison of Greedy Search Algorithms, Proceedings of the Symposium on Combinatorial Search (SoCS-10), 2010. Chris' Poster.
  • Additional work along these lines is available in Christopher Wilt, Jordan Thayer and Wheeler Ruml, Selecting a Greedy Search Algorithm, UNH CS Technical Report 10-07, 2011.

• Bradford Larsen, Ethan Burns, Wheeler Ruml, and Robert C. Holte, Searching Without a Heuristic: Efficient Use of Abstraction, Proceedings of the Twenty-fourth AAAI Conference on Artificial Intelligence (AAAI-10), 2010. Brad's talk slides. Note: the psuedo-code for switchback in this paper has a bug - see the SoCS-11 paper (above) for a corrected version.

• Sungwook Yoon, Wheeler Ruml, J. Benton, and Minh B. Do, Improving Determinization in Hindsight for On-line Probabilistic Planning, Proceedings of the Twentieth International Conference on Automated Planning and Scheduling (ICAPS-10), 2010.

• Silvia Richter, Jordan T. Thayer, and Wheeler Ruml, The Joy of Forgetting: Faster Anytime Search via Restarting, Proceedings of the Twentieth International Conference on Automated Planning and Scheduling (ICAPS-10) , 2010. Silvia's talk slides.
  • An earlier version of this paper was published in the Proceedings of the International Symposium on Combinatorial Search (SoCS-09), 2009.

• Sofia Lemons, J. Benton, Wheeler Ruml, Minh B. Do, and Sungwook Yoon, Continual On-line Planning as Decision-Theoretic Incremental Heuristic Search, Proceedings of the AAAI Spring Symposium on Embedded Reasoning, 2010.

2009

• Jordan T. Thayer, Wheeler Ruml, and Jeff Kreis, Using Distance Estimates in Heuristic Search: A Re-evaluation, Proceedings of the International Symposium on Combinatorial Search (SoCS-09), 2009. Jordan's Poster.
  • A shorter version of this paper was published as: Jordan T. Thayer and Wheeler Ruml, Using Distance Estimates in Heuristic Search, Proceedings of the Nineteenth International Conference on Automated Planning and Scheduling (ICAPS-09), 2009.

2008

• Jordan T. Thayer and Wheeler Ruml, Faster Than Weighted A*: An Optimistic Approach to Bounded Suboptimal Search, Proceedings of the Eighteenth International Conference on Automated Planning and Scheduling (ICAPS-08), 2008. Jordan's talk slides.

• Jordan T. Thayer, Wheeler Ruml, and Ephrat Bitton, Fast and Loose in Bounded Suboptimal Heuristic Search, Proceedings of the First International Symposium on Search Techniques in Artificial Intelligence and Robotics (STAIR-08), 2008. Jordan's talk slides.
  • A preliminary version of this work was presented at the Third North East Student Colloquium on Artificial Intelligence (NESCAI-08).

2007

• J. Benton, Minh B. Do, and Wheeler Ruml, A Simple Testbed for On-line Planning, Proceedings of the ICAPS-07 Workshop on Moving Planning and Scheduling Systems into the Real World, 2007.

2006

• Haitham Hindi and Wheeler Ruml, Network Flow Modeling for Flexible Manufacturing Systems with Re-entrant Lines, Proceedings of the 45th IEEE Conference on Decision and Control (CDC-06), 2006.

• Minh B. Do and Wheeler Ruml, Lessons Learned in Applying Domain-independent Planning to High-speed Manufacturing, Proceedings of the Sixteenth International Conference on Automated Planning and Scheduling (ICAPS-06), 2006.

• Yi Shang, Wheeler Ruml, and Markus P. J. Fromherz, Positioning Using Local Maps, Ad Hoc Networks, volume 4, number 2, page 240-253, 2006.

2005

• Wheeler Ruml, Alfonso Caramazza, Rita Capasso, and Gabriele Miceli, Interactivity and Continuity in Normal and Aphasic Language Production, Cognitive Neuropsychology, volume 22, number 2, pp. 131-168, 2005.

2004

• Hai Fang and Wheeler Ruml, Complete Local Search for Propositional Satisfiability. Proceedings of the Nineteenth National Conference on Artificial Intelligence (AAAI-04), 2004.

• Yi Shang, Wheeler Ruml, Ying Zhang and Markus P. J. Fromherz, Localization from Connectivity in Sensor Networks, IEEE Transactions on Parallel and Distributed Systems, volume 15, number 11, pages 961--974, 2004.
  • An earlier version appeared as: Yi Shang and Wheeler Ruml, Improved MDS-Based Localization, Proceedings of the 23rd Conference of the IEEE Communications Society (Infocom '04), 2004.

  • The first paper on this work was: Yi Shang, Wheeler Ruml, Ying Zhang and Markus P. J. Fromherz, Localization from Mere Connectivity, Proceedings of the Fourth ACM International Symposium on Mobile Ad Hoc Networking and Computing (MobiHoc '03), 2003.

• Ying Lu, Lara S. Crawford, Wheeler Ruml, Markus P. J. Fromherz, Feedback Control for Real-Time Solving, Working Notes of the CP-04 Workshop on Constraint Solving under Change and Uncertainty (Changes '04), 2004.

2003

2002

• Wheeler Ruml, Adaptive Tree Search. Ph.D. thesis, Harvard University, May, 2002. See the SoCS-11 paper by Rose, Burns, and Ruml (above) for additional follow-up work.
  • Some of this work appeared in: Wheeler Ruml, Heuristic Search in Bounded-depth Trees: Best-Leaf-First Search. Working Notes of the AAAI-02 Workshop on Probabilistic Approaches in Search, 2002.

  • A preliminary version was made available as Harvard CS Technical Report TR-01-02.

2001

• Wheeler Ruml, Constructing Distributed Representations using Additive Clustering, Advances in Neural Information Processing Systems 14 (NIPS-01), MIT Press, 2002.
  • A slightly different version is available as Assigning Features using Additive Clustering, Harvard CS Technical Report TR-04-01.

• Wheeler Ruml, Using Prior Knowledge with Adaptive Probing, Working Notes of the AAAI 2001 Fall Symposium on Using Uncertainty within Computation, pp. 116-120.

• Wheeler Ruml, Stochastic Tree Search: Where to Put the Randomness?, Working Notes of the IJCAI-01 Workshop on Stochastic Search, pp. 43-47.

• Wheeler Ruml, Incomplete Tree Search using Adaptive Probing, Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence (IJCAI-01), pp. 235-241.
  • A preliminary version of this paper was made available as Harvard CS Technical Report TR-02-01.

2000

• Alfonso Caramazza, Costanza Papagno, and Wheeler Ruml, The Selective Impairment of Phonological Processing in Speech Production, Brain and Language, volume 75, number 3, December, 2000, pages 428-450.

• Wheeler Ruml, Alfonso Caramazza, Jennifer R. Shelton, and Doriana Chialant, Testing Assumptions in Computational Theories of Aphasia, Journal of Memory and Language, volume 43, number 2, August, 2000, pages 217-248.

• Wheeler Ruml and Alfonso Caramazza, An Evaluation of a Computational Model of Lexical Access: Comments on Dell et al. (1997), Psychological Review, volume 107, number 3, July, 2000, pages 609-634.

1999

• Wheeler Ruml, Adam Ginsburg, and Stuart Shieber, Speculative Pruning for Boolean Satisfiability, Harvard CS Technical Report TR-02-99.

• Wheeler Ruml, Joe Marks, Stuart Shieber, and Tom Ngo, Seed-Growth Heuristics for Graph Bisection. Harvard CS Technical Report TR-10-99.
  • A preliminary version was published as Joe Marks, Wheeler Ruml, Stuart Shieber, and Tom Ngo, A Seed-Growth Heuristic for Graph Bisection, Proceedings of Algorithms and Experiments '98. Also available as Harvard CS Technical Report TR-01-98.

1998

1997

• Brad Andalman, Kathy Ryall, Wheeler Ruml, Joe Marks, and Stuart Shieber, Design Gallery Browsers Based on 2D and 3D Graph Drawing, Proceedings of Graph Drawing '97, 1997.

• Joe Marks, Brad Andalman, Paul Beardsley, William Freeman, Sarah Gibson, Jessica Hodgins, Tom Kang, Brian Mirtich, Hanspeter Pfister, Wheeler Ruml, Kathy Ryall, Josh Seims, and Stuart Shieber, Design Galleries: A General Approach to Setting Parameters for Computer Graphics and Animation, SIGGRAPH, 1997.

1996

• Wheeler Ruml, J. Thomas Ngo, Joe Marks, and Stuart Shieber, Easily Searched Encodings for Number Partitioning, Journal of Optimization Theory and Applications, volume 89, number 2, 1996. Also available as Harvard CS Technical Report TR-10-94r.
  • An early version of this work was my undergraduate thesis: Wheeler Ruml, Stochastic Approximation Algorithms for Number Partitioning, available as Harvard CS Technical Report TR-17-93.