Books

2022

[bib] [pdf] [link]

  • Algorithms for Decision Making
    M.J. Kochenderfer, T.A. Wheeler, and K.H. Wray
    MIT Press (Book 2022)

Publications

2024

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  • Hierarchical Framework for Optimizing Wildfire Surveillance and Suppression using Human-Autonomous Teaming
    M. Al-Husseini, K.H. Wray, and M.J. Kochenderfer
    Journal of Aerospace Information Systems (JAIS 2024)

[bib] [pdf]

  • Constrained Hierarchical Monte Carlo Belief-State Planning
    A. Jamgochian, H. Buurmeijer, K.H. Wray, A. Corso, and M.J. Kochenderfer
    IEEE International Conference on Robotics and Automation (ICRA 2024)

2023

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  • Experience Filter: Transferring Past Experiences to Unseen Tasks or Environments
    A. Yildiz, E. Yel, A.L. Corso, K.H. Wray, S.J. Witwicki, and M.J. Kochenderfer
    IEEE Intelligent Vehicles Symposium (IV 2023)

[bib] [pdf]

  • Banded Controllers for Scalable POMDP Decision-Making
    K. Czuprynski and K.H. Wray
    IEEE European Control Conference (ECC 2023)

[bib] [pdf]

  • Competence-Aware Systems
    C. Basich, J. Svegliato, K.H. Wray, S. Witwicki, J. Biswas, and S. Zilberstein
    Artificial Intelligence (AIJ 2023)

2022

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  • Multi-Objective Policy Gradients with Topological Constraints
    K.H. Wray, S. Tiomkin, M.J. Kochenderfer, and P. Abbeel
    International Conference on Intelligent Robots and Systems (IROS 2022)

[bib] [pdf]

  • Heuristic Search for SSPs with Lexicographic Preferences over Multiple Costs
    S. Miura, K.H. Wray and S. Zilberstein
    International Symposium on Combinatorial Search (SoCS 2022)

[bib] [pdf]

  • Scalable Gradient Ascent for Controllers in Constrained POMDPs
    K.H. Wray and K. Czuprynski
    IEEE International Conference on Robotics and Automation (ICRA 2022)

[bib] [pdf]

  • Competence-Aware Path Planning via Introspective Perception
    S. Rabiee, C. Basich, K.H. Wray, S. Zilberstein, and J. Biswas
    IEEE Robotics and Automation Letters (RA-L 2022)

2021

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  • Improving Competence via Iterative State Space Refinement
    C. Basich, J. Svegliato, A. Beach, K.H. Wray, S. Witwicki, and S. Zilberstein
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

[bib] [pdf]

  • Engine Activation Planning for Series Hybrid Electric Vehicles
    K.H. Wray, R. Lui, and L. Pedersen
    IEEE Intelligent Vehicles Symposium (IV 2021)

[bib] [pdf]

  • Scalable POMDP Decision-Making Using Circulant Controllers
    K.H. Wray and K. Czuprynski
    IEEE International Conference on Robotics and Automation (ICRA 2021)

[bib] [pdf]

  • POMDPs for Safe Visibility Reasoning in Autonomous Vehicles
    K.H. Wray, B. Lange, A. Jamgochian, S.J. Witwicki, A. Kobashi, S. Hagaribommanahalli, and D. Ilstrup
    IEEE International Conference on Intelligence and Safety for Robotics (ISR 2021)

2020

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  • Learning to Optimize Autonomy in Competence-Aware Systems
    C. Basich, K.H. Wray, J. Svegliato, S.J. Witwicki, J. Biswas, and S. Zilberstein
    International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2020)

2019

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  • Planning in Stochastic Environments with Goal Uncertainty
    S. Saisubramanian, K.H. Wray, L. Pineda, and S. Zilberstein
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)

[bib] [pdf]

  • Belief Space Metareasoning for Exception Recovery
    J. Svegliato, K.H. Wray, S.J. Witwicki, J. Biswas, and S. Zilberstein
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)

[bib] [pdf]

  • Generalized Controllers in POMDP Decision-Making
    K.H. Wray and S. Zilberstein
    IEEE International Conference on Robotics and Automation (ICRA 2019)

2018

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  • Meta-Level Control of Anytime Algorithms with Online Performance Prediction
    J. Svegliato, K.H. Wray, and S. Zilberstein
    International Joint Conference on Artificial Intelligence (IJCAI 2018)

[bib] [pdf] [code]

  • Integrated Cooperation and Competition in Multi-Agent Decision-Making
    K.H. Wray, A. Kumar, and S. Zilberstein
    AAAI Conference on Artificial Intelligence (AAAI 2018)

2017

[bib] [pdf] [code]

  • Approximating Reachable Belief Points in POMDPs
    K.H. Wray and S. Zilberstein
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

[bib] [pdf] [code]

  • Online Decision-Making for Scalable Autonomous Systems
    K.H. Wray, S.J. Witwicki, and S. Zilberstein
    International Joint Conference on Artificial Intelligence (IJCAI 2017)

[bib] [pdf] [code]

  • Fast SSP Solvers Using Short-Sighted Labeling
    L. Pineda, K.H. Wray, and S. Zilberstein
    AAAI Conference on Artificial Intelligence (AAAI 2017)

2016

[bib] [pdf] [code]

  • Log-Space Harmonic Function Path Planning
    K.H. Wray, D. Ruiken, R.A. Grupen, and S. Zilberstein
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

[bib] [pdf] [code]

  • Hierarchical Approach to Transfer of Control in Semi-Autonomous Systems
    K.H. Wray, L. Pineda, and S. Zilberstein
    International Joint Conference on Artificial Intelligence (IJCAI 2016)

[bib] [pdf] [code]

  • A POMDP Formulation of Proactive Learning
    K.H. Wray and S. Zilberstein
    AAAI Conference on Artificial Intelligence (AAAI 2016)

2015

[bib] [pdf] [code]

  • Multi-Objective POMDPs with Lexicographic Reward Preferences
    K.H. Wray and S. Zilberstein
    International Joint Conference of Artificial Intelligence (IJCAI 2015)

[bib] [pdf] [code]

  • Multi-Objective MDPs with Conditional Lexicographic Reward Preferences
    K.H. Wray, S. Zilberstein, and A. Mouaddib
    AAAI Conference on Artificial Intelligence (AAAI 2015)

Patents Granted

United States Patents Granted

2024

[link]

  • Learning in Lane-Level Route Planner
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent. Granted in 2024

[link]

  • Navigation Map Learning for Intelligent Hybrid-Electric Vehicle Planning
    K.H. Wray, D. Ilstrup, L. Pedersen, R. Lui, and C. Ostafew
    U.S. Patent 11,946,760. Granted on April 2, 2024

[link]

  • Explainability and Interface Design for Lane-Level Route Planner
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,945,441. Granted on April 2, 2024

[link]

  • Belief State Determination for Real-Time Decision-Making
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,921,506. Granted on March 5, 2024

[link]

  • Objective-Based Reasoning in Autonomous Vehicle Decision-Making
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,899,454. Granted on February 13, 2024

[link]

  • Shared Autonomous Vehicle Operational Management
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,874,120. Granted on January 16, 2024

2023

[link]

  • Apparatus and Method for Post-Processing a Decision-Making Model of an Autonomous Vehicle Using Multivariate Data
    O. Bentahar, A. Jamgochian, K.H. Wray, and S. Witwicki
    U.S. Patent 11,782,438. Granted on October 10, 2023

[link]

  • Explainability of Autonomous Vehicle Decision Making
    K.H. Wray, S. Witwicki, S. Zilberstein, O. Bentahar, and A. Jamgochian
    U.S. Patent 11,714,971. Granted on August 1, 2023

[link]

  • Autonomous Vehicle Operation with Explicit Occlusion Reasoning
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,702,070. Granted on July 18, 2023

[link]

  • Annotation and Mapping for Vehicle Operation in Low-Confidence Object Detection Conditions
    L.L. Bill, D. Ilstrup, S. Witwicki, and K.H. Wray
    U.S. Patent 11,681,780. Granted on June 20, 2023

[link]

  • 3D Occlusion Reasoning for Accident Avoidance
    A. Kobashi, S. Witwicki, C. Ostafew, K.H. Wray, K. Noda
    U.S. Patent 11,635,763. Granted on April 25, 2023

[link]

  • Risk Aware Executor with Action Set Recommendations
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,635,758. Granted on April 25, 2023

[link]

  • Route Planner Optimization for Hybrid-Electric Vehicles
    K.H. Wray, L. Pedersen, R. Lui, and C. Ostafew
    U.S. Patent 11,614,335. Granted on March 28, 2023

[link]

  • Learning Safety and Human-Centered Constraints in Autonomous Vehicles
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,613,269. Granted on March 28, 2023

[link]

  • Intelligent Engine Activation Planner
    K.H. Wray, L. Pedersen, R. Lui, and C. Ostafew
    U.S. Patent 11,608,048. Granted on March 21, 2023

[link]

  • Explainability of Autonomous Vehicle Decision Making
    K.H. Wray, O. Bentahar, A. Vagadia, L. Cesafsky, A. Jamgochian, S. Witwicki, N.M. Baig, J.S. Gyorfi, S. Zilberstein, and S. Sharma
    U.S. Patent 11,577,746. Granted on February 14, 2023

2022

[link]

  • Autonomous Vehicle Operational Management Including Operating A Partially Observable Markov Decision Process Model Instance
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    U.S. Patent 11,500,380. Granted on November 15, 2022

[link]

  • Introspective Competence Modeling for AV Decision Making
    C. Basich, K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,307,585. Granted on April 19, 2022

[link]

  • Multiple Objective Explanation and Control Interface Design
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,300,957. Granted on April 12, 2022

2021

[link]

  • Orientation-Adjust Actions for Autonomous Vehicle Operational Management
    K.H. Wray, S. Witwicki, S. Zilberstein, and M. Cefkin
    U.S. Patent 11,120,688. Granted on September 14, 2021

[link]

  • Autonomous Vehicle Operational Management Blocking Monitoring
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    U.S. Patent 11,113,973. Granted on September 7, 2021

[link]

  • Centralized Shared Autonomous Vehicle Operational Management
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,110,941. Granted on September 7, 2021

[link]

  • Autonomous Vehicle Operational Management Scenarios
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,084,504. Granted on August 10, 2021

[link]

  • Reinforcement and Model Learning for Vehicle Operation
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 11,027,751. Granted on June 8, 2021

[link]

  • Autonomous Vehicle Operational Management With Visual Saliency Perception Control
    K. Noda, K.H. Wray, and S. Witwicki
    U.S. Patent 10,901,417. Granted on January 26, 2021

2020

[link]

  • Continual Planning and Metareasoning for Controlling an Autonomous Vehicle
    K.H. Wray, S. Witwicki, and S. Zilberstein
    U.S. Patent 10,836,405. Granted on November 17, 2020

[link]

  • Autonomous Vehicle Operational Management Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    U.S. Patent 10,654,476. Granted on May 19, 2020

[link]

  • Introspective Autonomous Vehicle Operational Management
    J. Svegliato, S. Witwicki, K.H. Wray, and S. Zilberstein
    U.S. Patent 10,649,453. Granted on May 12, 2020

International Patents Granted

2023

[link]

  • Autonomous Vehicle Operational Management With Visual Saliency Perception Control
    K. Noda, K.H. Wray, and S. Witwicki
    European Patent 3,841,525. Granted November 22, 2023

[link]

  • Autonomous Vehicle Operational Management
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Chinese Patent 110325928. Granted April 4, 2023

[link]

  • Autonomous Vehicle Operational Management
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Canadian Patent 3,052,951. Granted March 14, 2023

2022

[link]

  • Autonomous Vehicle Operation Management Obstruction Monitoring
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Chinese Patent 110418743. Granted October 4, 2022

[link]

  • Autonomous Vehicle Operation Management Including Operating a Partially Observable Markov Decision Process Model Instance
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    European Patent 3,580,084. Granted July 6, 2022

[link]

  • Autonomous Vehicle Operational Management Scenarios
    K.H. Wray, S. Witwicki, and S. Zilberstein
    Chinese Patent 111629945. Granted April 26, 2022

[link]

  • To Provide A Method Which Is Used When Passing Vehicular Traffic Network Autonomous Traveling Vehicle
    K. Noda, K.H. Wray, and S. Witwicki
    Japanese Patent 7,048,818. Granted April 5, 2022

[link]

  • An Autonomous Traveling Vehicle Operation Management Plan
    K.H. Wray, S. Witwicki, and S. Zilberstein
    Japanese Patent 6,992,182. Granted January 13, 2022

2021

[link]

  • Orientation-Adjust Actions for Autonomous Vehicle Operational Management
    K.H. Wray, S. Witwicki, S. Zilberstein, and M. Cefkin
    Chinese Patent 112368662. Granted December 10, 2021

[link]

  • The Operation of the Autonomous Traveling Vehicle Management Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Japanese Patent 6,969,756. Granted November 24, 2021

[link]

  • Operational Control of Autonomous Vehicle With Visual Salence Perception Control
    K. Noda, K.H. Wray, and S. Witwicki
    Russian Patent 2,759,975. Granted November 19, 2021

[link]

  • Autonomous Vehicle and Method of Autonomous Vehicle Operation Management Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Chinese Patent 110603497. Granted November 16, 2021

[link]

  • Autonomous Vehicle Operational Management Blocking Monitoring
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Canadian Patent 3,052,953. Granted November 9, 2021

[link]

  • Centralized Shared Autonomous Vehicle Operational Management
    K.H. Wray, S. Witwicki, and S. Zilberstein
    Japanese Patent 6,963,158. Granted November 5, 2021

[link]

  • Autonomous Vehicle Operation Management With Visual Saliency Perception Control
    K. Noda, K.H. Wray, and S. Witwicki
    Chinese Patent 112868031. Granted October 15, 2021

[link]

  • Self-Driving Vehicle Operation Management
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Korean Patent 10-2305291. Granted September 29, 2021

[link]

  • The Method Used to Traverse the Vehicle Traffic Network Autonomous Traveling Vehicle
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Japanese Patent 6,897,938. Granted July 7, 2021

[link]

  • Autonomous Vehicle Operation Management Including Operating a Partially Observable Markov Decision Process Model Instance
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Japanese Patent 6,890,757. Granted June 18, 2021

[link]

  • Autonomous Vehicle Operational Management Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Canadian Patent 3,052,952. Granted June 1, 2021

[link]

  • Options for Autonomous Vehicle Operation
    K.H. Wray, S. Witwicki, and S. Zilberstein
    Russian Patent 2,744,640. Granted March 12, 2021

[link]

  • Autonomous Vehicle Operational Management Scenarios
    K.H. Wray, S. Witwicki, and S. Zilberstein
    Canadian Patent 3,083,719. Granted March 2, 2021

[link]

  • Autonomous Vehicle Operation Management Including Operating a Partially Observable Markov Decision Process Model Instance
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Korean Patent 10-2199093. Granted January 6, 2021

2020

[link]

  • Autonomous Vehicle Operational Management Blocking Monitoring
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    European Patent 3,580,104. Granted November 11, 2020

[link]

  • Operational Control of Autonomous Vehicle, Including Operation of Model Instance of Partially Observed Markov Process of Decision Making
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Russian Patent 2,734,744. Granted October 22, 2020

[link]

  • Traffic Network Blocking Tracking During Operational Control of Autonomous Vehicle
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Russian Patent 2,734,732. Granted October 22, 2020

[link]

  • Real-Time Vehicle Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Russian Patent 2,733,015. Granted September 28, 2020

[link]

  • Control of Autonomous Vehicle Operational Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Russian Patent 2,725,920. Granted July 7, 2020

[link]

  • Autonomous Vehicle Operational Management Blocking Monitoring
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Korean Patent 10-2090919. Granted May 18, 2020

[link]

  • Autonomous Vehicle Operational Management Control
    K. Wray, S. Witwicki, S. Zilberstein, and L. Pedersen
    Korean Patent 10-2090920. Granted March 19, 2020

Additional Refereed Papers

Workshop Papers

2024

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  • Decision Making in Non-Stationary Environments with Policy-Augmented Search
    A. Pettet, Y. Zhang, B. Luo, K. Wray, H. Baier, A. Laszka, A. Dubey, and A. Mukhopadhyay
    AAAI Workshop on AI Planning for Cyber-Physical Systems (AAAI 2024 Workshop)

2020

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  • Improving Competence for Reliable Autonomy
    C. Basich, J. Svegliato, S. Zilberstein, K.H. Wray, and S.J. Witwicki
    ECAI Workshop on Agents and Robots for Reliable Engineered Autonomy (ECAI 2020 Workshop)

[bib] [pdf]

  • POMDP Autonomous Vehicle Visibility Reasoning
    K.H. Wray, B. Lange, A. Jamgochian, S.J. Witwicki, A. Kobashi, S. Hagaribommanahalli, and D. Ilstrup
    RSS Workshop on Interaction and Decision-Making in Autonomous Driving (RSS 2020 Workshop)

2019

[bib] [pdf]

  • Planning in Stochastic Environments with Goal Uncertainty
    S. Saisubramanian, K.H. Wray, L. Pineda, and S. Zilberstein
    ICAPS Workshop on Planning and Robotics (ICAPS 2019 Workshop)

2018

[bib] [pdf]

  • Policy Networks for Reasoning in Long-Term Autonomy
    K.H. Wray and S. Zilberstein
    AAAI Fall Symposium on Reasoning and Learning in Real-World Systems for Long-Term Autonomy (AAAI 2018 Symposium)

2017

[bib] [pdf] [code]

  • Approximating Reachable Belief Points in POMDPs with Applications to Robotic Navigation and Localization
    K.H. Wray and S. Zilberstein
    ICAPS Workshop on Planning and Robotics (ICAPS 2017 Workshop)

2016

[bib] [pdf] [code]

  • Fast SSP Solvers Using Short-Sighted Labeling
    L. Pineda, K.H. Wray, and S. Zilberstein
    IJCAI Workshop on Goal Reasoning (IJCAI 2016 Workshop)

2015

[bib] [pdf]

  • Revisiting Multi-Objective MDPs with Relaxed Lexicographic Preferences
    L. Pineda, K.H. Wray, and S. Zilberstein
    AAAI Symposium on Sequential Decision Making for Intelligent Agents (AAAI 2015 Symposium)

2014

[bib] [pdf]

  • An Application of Multiagent Learning in Highly Dynamic Environments
    K.H. Wray and B.B. Thompson
    AAAI Workshop on Multiagent Interaction without Prior Coordination (AAAI 2014 Workshop)

[bib] [pdf]

  • A Distributed Communication Architecture for Dynamic Multiagent Systems
    K.H. Wray and B.B. Thompson
    AAAI Workshop on Multiagent Interaction without Prior Coordination (AAAI 2014 Workshop)

Extended Abstracts

2024

[bib] [pdf]

  • Decision Making in Non-Stationary Environments with Policy-Augmented Search (Extended Abstract)
    A. Pettet, Y. Zhang, B. Luo, K. Wray, H. Baier, A. Laszka, A. Dubey, and A. Mukhopadhyay
    International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

2020

[bib] [pdf]

  • Multi-Objective POMDPs for Robust Autonomy
    K.H. Wray and S.J. Witwicki
    RSS Workshop on Robust Autonomy (RSS 2020 Workshop)

2019

[bib] [pdf]

  • Policy Networks: A Framework for Scalable Integration of Multiple Decision-Making Models (Extended Abstract)
    K.H. Wray and S. Zilberstein
    International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019)

2016

[bib] [pdf]

  • Hierarchical Approach to Transfer of Control in Semi-Autonomous Systems (Extended Abstract)
    K.H. Wray, L. Pineda, and S. Zilberstein
    International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2016)

2015

[bib] [pdf] [code]

  • A Parallel Point-Based POMDP Algorithm Leveraging GPUs (Extended Abstract)
    K.H. Wray and S. Zilberstein
    AAAI Symposium on Sequential Decision Making for Intelligent Agents (AAAI 2015 Symposium)

Theses

2019

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  • Abstractions in Reasoning for Long-Term Autonomy
    K.H. Wray (Adviser: Shlomo Zilberstein)
    Ph.D. in Computer Science Thesis. University of Massachusetts (Doctoral Thesis 2019)

2013

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  • Altruists and Egoists: A Local Interaction Model of Imitation in Social Graphs
    K.H. Wray (Adviser: Dr. Eli Byrne)
    M.A. in Math Master's Thesis. The Pennsylvania State University (Master's Thesis 2013)

2012

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  • A Game Theoretic Approach to Multi-Agent Systems in Highly Dynamic, Information-Sparse, Role Assignment Scenarios
    K.H. Wray (Adviser: Dr. Benjamin Thompson)
    M.S. in CSE Master's Thesis. The Pennsylvania State University (Master's Thesis 2012)