Related Publications


K. L. Clark and P. J. Robinson, Programming Co-operating Robotic Agents: A Teleo-Reactive Rule Based Approach, to appear, Springer. [A book sample available here].

Book Chapters

Benson, S., and Nilsson, N., “Reacting, Planning and Learning in an Autonomous Agent”, in Machine Intelligence 14, K. Furukawa, D. Michie, and S. Muggleton, (eds.), Oxford: the Clarendon Press, 1995. [An early paper describing learning and architectural ideas]

Kochenderfer, M.,  “Evolving Hierarchical and Recursive Teleo-reactive Programs through Genetic Programming” ,Springer Lecture Notes on Computer Science, 2003.

Asghar, M.R., Russello, G. “Automating consent management lifecycle for electronic healthcare systems Medical Data Privacy Handbook“, pp. 361-387. 2005.

Journal Articles

Brereton P., Kitchenham B.A., Budgen D., Turner M. & Khalil M., “Lessons from applying the systematic literature review process within the software engineering domain”, The Journal of Systems and Software 80:571-583, 2007.

Broda K., Hogger CH., “Determining and Verifying Good Policies for Cloned Teleo-Reactive Agents”, Int. Journal of Computer Systems Science and Engineering 20:249-258, 2005.

Broda K., Hogger, CJ., “Designing Effective Policies for Minimal Agents”, The Computer Journal 53: 1184-1209, 2010.

Dongol B., Hayes I.J.,Robinson P.J., “Reasoning about goal-directed real-time teleo-reactive programs“, Formal Aspects of Computing, pp. 1-27. Article in Press, 2014.

Hawthorne J., Anthony R. “Using a Teleo-Reactive approach in building self-managing systems“, International Journal of Autonomous and Adaptive Communications Systems, 5 (3), pp. 255-273, 2012.

Clark, K., Dongol, B., Robinson, P. Temporal logic semantics for teleo-reactive robotic agent programs (2020) Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 12232 LNCS, pp. 265-280.

Langley P.,  Choi D., “Learning recursive control programs from problem solving”, Journal of Machine Learning Research 7:493-518, 2006.

Morales J.M., Sánchez P., and  Alonso D., “A systematic literature review of the Teleo-Reactive paradigm”, Artif Intell Rev, DOI 10.1007/s10462-012-9350-2, 2012.

Morales J.M., Navarro E., Sánchez P., and  Alonso D., “A controlled experiment to evaluate the understandability of KAOS and i* for modeling Teleo-Reactive systems”, Journal of Systems and Software, Volume 100, February 2015, Pages 1-14

Morales J.M., Navarro E., Sánchez P., and  Alonso D., “A family of experiments to evaluate the understandability of TRiStar and i* for modeling Teleo-Reactive systems“, Journal of Systems and Software, Available online 8 January 2016

Nilsson, N., “Teleo-Reactive Programs for Agent Control”, Journal of Artificial Intelligence Research,  DOI doi:10.1613/jair.30, 1994. [The first published paper about TR programs]

Nils J. Nilsson, “Teleo-Reactive Programs and the Triple-Tower Architecture”, Electronic Transactions on Artificial Intelligence, Vol. 5 (2001), Section B, pp. 99-110.

Rajan K., Py F, McGann C., “Adaptive control of AUVs using onboard planning and execution”, Sea Technology Magazine, April, 2010.

Russell SE, Carr D.,  Dragone M., O’Hare GM., Collier RW., “From bogtrotting to herding: a UCD perspective”, Annals of Mathematics and Artificial Intelligence 61:349-368, 2011.

Sánchez P., Alonso D., Morales J.M., Navarro P.J., “From Teleo-Reactive specifications to architectural components: A model-driven approach“,  Journal of Systems and Software, 85, 2012.

Sánchez P., Álvarez B., Morales J.M., Alonso D., Iborra A., “An approach to modeling and developing teleo-reactive systems considering timing constraints“, Journal of Systems and Software, Volume 117, July 2016, Pages 317-333.

Sánchez P., Álvarez B., Martinez R., Iborra A. “Embedding Statecharts into Teleo-Reactive programs to model interactions between agents“, Journal of Systems and Software, Volume 131, September 2017, Pages 78–97, In Press, 2017.

Sánchez, P.; Álvarez, B.; Antolinos, E.; Fernández, D.; Iborra, A. “A Teleo-Reactive Node for Implementing Internet of Things Systems“. Sensors 2018, 18, 1059.

Smith G., Sanders J.W., Winter K. “Designing adaptive systems using teleo-reactive agents”.  In Transactions on Computational Collective Intelligence XVI (pp. 34-61), Springer Berlin Heidelberg, 2014.

Soto F., Sánchez P., Mateo A., Alonso D., Navarro P.J., “An Educational Tool for Implementing Reactive Systems Following a Goal-Driven Approach“, Computer Applications for Engineering Education, DOI: 10.1002/cae.21568, 2012.

Conference Proceedings Articles

Ali K,, Leung K,, Konik T,, Choi D,, Shapiro D.,”Knowledge-Directed Theory Revision”, In Proceedings of ILP-09, 2009.

Asghar M.R., Russello G., “ACTORS: A goal-driven approach for capturing and managing consent in e-Health systems“, Proceedings – 2012 IEEE International Symposium on Policies for Distributed Systems and Networks, POLICY 2012, pp. 61-69, 2012.

Broda K.,  Hogger CH.,”Designing and Simulating Individual Teleo-Reactive Agents”, In Proceedings of KI-04, 2004.

Broda K., Hogger CH., “Policies for cloned teleo-reactive robots”, In Proceedings of MATES-04, 2004.

Broda K., Hogger CH., “Abstract policy evaluation for reactive agents”, In Proceedings of SARA-05, 2005.

Broda K., “Constructing Teleo-Reactive Robot programs”, In: Proceedings of  ECAI-00, 2000.

Broda K., Clark K.,  Miller R., Russo A., “SAGE: A logical agent-based environment monitoring and control system”, In: Proceedings of AmI-09, 2009.

Choi D., Langley P., “Learning teleoreactive logic programs from problem solving”, In Proceedings of ILP-05, 2005.

Clark, K.L. Rule control of teleo-reactive, multi-tasking, communicating robotic agents, (2018) ICINCO 2018 – Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2, pp. 5-6.

Clark, K.L., Robinson, P.J. “Robotic agent programming in TeleoR (2015) Proceedings“, In IEEE International Conference on Robotics and Automation, 2015 (June), pp. 5040-5047.

Clark, K., Hengst, B., Pagnucco, M., Rajaratnam, D., Robinson, P., Sammut, C., Thielscher, M. A framework for integrating symbolic and sub-symbolic representations (2016) IJCAI International Joint Conference on Artificial Intelligence, 2016-January, pp. 2486-2492.

Clark, K.L., Robinson, P.J. Concurrent task programming of robotic agents in TeleoR (2017) CEUR Workshop Proceedings, 1875.

Coffey S., Clark K., “A Hybrid, Teleo-Reactive Architecture for Robot Control”, In Proceedings of MARS-06, 2006.

Colledanchise M., Ogren, p. “How Behavior Trees Generalize the Teleo-Reactive Paradigm and And-Or-Trees,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.

De Paola A., Fiduccia S., Gatani L., Pizzitola A., Storniolo P., “Introducing automated reasoning in network management”, In: Proceedings of ICAISC-04, 2004.

Di Fatta G S., Gaglio Lo., Presti G., Lo Re G., Selvaggio I., “Distributed intelligent management of active networks”, In: Proceedings of AI*AI-03, 2003.

Dongol B., Hayes I.J. “Rely/guarantee reasoning for teleo-reactive programs over multiple time bands“, Lecture Notes in Computer Science, 7321 LNCS, pp. 39-53, 2012.

Fernández D., Sánchez P., Álvarez B., López J.A., Iborra A., “TRIoT: A Proposal for Deploying Teleo-Reactive Nodes for IoT Systems”, 15th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017), 21th-25th June 2017, Porto, Portugal.

Gordon E., Logan B., “A Goal Processing Architecture for Game Agents”, In Proceedings of AAMAS-03, 2003.

Gubisch G., Steinbauer G., Weiglhofer M., Wotawa F., “A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots”, In: Proceedings of IEA/AIE-08, 2008.

Hawthorne J.,  Anthony R., “Using a Teleo-Reactive Programming Style to Develop Self-healing Application”, In: Proceedings of ICST-09, 2009.

Hawthorne J., Anthony R., “A Methodology for the Use of the Teleo-Reactive Programming Technique in Autonomic Computing”, In: Proceedings of SND/ACIS-10, 2010.

Hawthorne J., Anthony R., Petridis M., “Improving the Development Process for Teleo-Reactive Programming Through Advanced Composition”, In: Proceedings of ICAS-11, 2011.

Hayes IJ., “Towards Reasoning About Teleo-Reactive Programs for Robust Real-Time Systems”, In: Proceedings on SERENE08, 2008.

Hengst, B; Clark,  K.; Pagnucco, M; Rajaratnam, D; Robinson, P; Sammut, C; Thielscher, M, “A Framework for Integrating Symbolic and Sub-symbolic Representations“, 25th International Joint Conference on Artificial Intelligence IJCAI-16; July 2016, New York, New York, USA.

Katz EP., “Extending the Teleo-Reactive Paradigm for Robotic Agent Task Control Using Zadehan (Fuzzy) Logic”, In: Proceedings of CIRA-97, 1997.

Katz EP., “A Simplifying Diagrammatic Representation of Crisp and Fuzzy Teleo-Reactive Semantic Circuitry for Application in Robotic Agent Task Control”, In: Proceedings of the SMC-98, 1998.

Könik T., Negin N., Ugur K., “Inductive Generalization of Analytically Learned Goal Hierarchies”, In: Proceedings of ILP-09, 2009.

Kowalski R.A., Sadri F., “Teleo-reactive abductive logic programs”  Lecture Notes in Computer Science, 7360 LNCS, pp. 12-32, 2012.

Lee J.,  Durfee EH., “Structured circuit semantics for reactive plan execution systems”, In: Proceedings of AAAI-94, 1232-1237, 1994.

Li N., Choi D., Langley P., “Adding Goal Priorities to Teleoreactive Logic Programs”, In: Proceedings of the International Symposium on Skill Science, 2007.

Marinovic S., Twidle K., Dulay N., “Teleo-Reactive Workflows for Pervasive Healthcare”, In: Proceedings of PerCom-10, 2010.

Marinovic S., Twidle K., Dulay N., Sloman M., “Teleo-Reactive Policies for Managing Human-centric Pervasive Services”, In: Proceedings of CNSM-10, 2010.

McGann C., Py F., Rajan K., Thomas H., Henthorn R.,  McEwen R., “T-REX: A Model-Based Architecture for AUV Control”, In: Proceedings of ICAPS-07, 2007.

McGann C., Py F., Rajan K., Thomas H., Henthorn R., McEwen R., “A Deliberative Architecture for AUV Control”, In: Proceedings of ICRA-08, 2008.

Morales J.M., Sánchez P, Sánchez A. “A Method to Derive TRiStar Diagrams from Textual Descriptions of Teleo-Reactive Systems“, Proceeding of the 21st conference of Fruct Association, ISSN 2305-7254, Conference: FRUCT21 At: Helsinki, Finland, November 2017.

Parmar A., “A logical measure of progress for planning”, In Proceedings of AAAI-02, 498-505, 2002.

Payne RJ., “RPL: A Policy Language For Dynamic Reconfiguration”, In: Proceedings of SERENE-08, 2008.

J. Ramirez, “Neural synthesis of teleo-reactive programs,” Multi Agent Systems, 1998. Proceedings. International Conference on, 1998, pp. 459-460.

Ryan, Malcolm & Pendrith, Mark. “RL-TOPs: An Architecture for Modularity and Re-Use in Reinforcement Learning“, 2000.

Salomaki, B. Choi, D., Nejati, N., & Langley, P. Learning teleoreactive logic programs by observation. In G.D.W. Aha, & G. Tecuci (Eds.), Mixed initiative problem-solving assistants: Papers from the 2005 fall symposium, Tech. Report FS-05–07. Menlo Park, CA: AAAI, 2005.

Smith, G., Sanders, J.W., Winter, K. “Designing adaptive systems using teleo-reactive agents” (2014) Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8780, pp. 34-61.

Twidle K., Marinovic S., Dulay N., “Teleo-Reactive Policies in Ponder2″, In: Proceedings of POLICY-10, 2010.

Vargas, B.,  and Morales, E., “Learning Navigation Teleo-Reactive Programs using Behavioural Cloning,” IEEE International Conference on Mechatronics (ICM 2009), Malaga, Spain, 2009.

Vargas B., “Solving navigation tasks with learned Teleo-Reactive Programs”, In: Proceedings of IROS-08, 2008.

Zhao, L., Shaoxiong, Y. E., Chunchen, D., & Yang, Y. (2015). “Evolving RoboCup2D Agents Based on PSO“. International Conference on Chemical, Material and Food Engineering (CMFE-2015).

Zelek, J. S., “Teleo-Reactive Autonomous Mobile Navigation”,  In: Proceedings of  CCECE-95, 1995.

PhD, Msc & undergraduate Theses

Benson, S., Learning Action Models for Reactive Autonomous Agents, PhD Thesis, Department of Computer Science, Stanford University, 1996. [Explores how T-R programs can be generated by an automatic planning system using action effect descriptions learned through experience by an extension of inductive logic programming methods]

Moreno F. Task Specification for Drones using the Teleo-Reactive Approach. Undergraduate thesis, Technical University of Cartagena, Supervisor: Pedro Sánchez Palma, Spain, September 2015.

Vargas B., Aprendizaje de Programas Teleo-Reactivos para Robótica Móvil, PhD Thesis, Instituto Nacional de Astrofísica, Óptica y Electrónica, 2009.

Webb R. Implementing a teleo-reactive programming system, PhD Thesis, Sep 2015.

Morales J.M. Automating the Goal-oriented Development of Teleo-Reactive Systems: an Approach based on Components and Models, PhD Thesis, supervisors Prof. Pedro Sánchez and Dr. Diego Alonso, Technical University of Cartagena, June 2016.


Champandard A.J., “Teleo-Reactive Programs for Agent Control“, Web review published in December 20, 2007.

Clark, K.L., Robinson, P.J. “Multi-tasking Robotic Agent Programming in TeleoR“.  Paper linked with an invited challenge demo at Rule-ML 2017, London.

Clark, K.L. “Programming Robotic Agents: A Multi-tasking Teleo-Reactive Approach“, Talk 2014.

Dongol B, Hayes IJ, Robinson PJ., “Reasoning About Real-Time Teleo-Reactive Programs“, Technical Report SSE-2010-01, Division of Systems and Software Engineering Research, The University of Queensland, 2010

Gamble C, Riddle S.,”Dependability Explicit Metadata: Extended Report on Properties, Policies and Exemplary Application to Case Studies”, Technical Report CS-TR-1248, The Newcastle University, 2011.

Gordon, E., and Logan, B., “GRUE: A Goal Processing Architecture for Game Agents”, Computer Science Technical Report No. NOTTCS-WP-2003-1, School of Computer Science and Information Technology,  University of Nottingham, 2003.

Kowalski R, Sadri F., “Teleo-Reactive Abductive Logic Program”, Technical Report. The Imperial College London, 2011

Mousavi SR, Broda K., “Simplification of Teleo-Reactive Sequences”, Technical Report, Imperial College London, 2003.

Nilsson, N., “Toward Agent Programs with Circuit Semantics“, Technical Report STAN-CS-92-1412, Stanford University Computer Science Department, 1992. [A Stanford Technical Note introducing T-R programs]

Nilsson, N. J., “Learning Strategies for Mid-Level Robot Control: Some Preliminary Considerations and Results”, May, 2000. [Discusses prospects for learning T-R programs, describes some initial experiments, and makes some proposals.]

Saigol Z, Py F, Rajan K, McGann C, Wyatt J, Dearden R., “Randomized Testing for Robotic Plan Execution for Autonomous Systems”, In: Proceedings of IEEE/OES-10, 2010.

Salomaki B, Choi D, Nejati N, Langley P., “Learning Teleoreactive Logic Programs by Observation”, In: Proceedings of AAAI-05, 2005.

Srinivasan, P., “Development of Block-Stacking Teleo-Reactive Programs Using Genetic Programming”, (Student paper), 2002.