%% 1999
@manual{SoccerManual51,
  author =       {Emiel Corten and Klaus Dorer and Fredrik Heintz and
                  Kostas Kostiadis and Johan Kummeneje and Helmut Myritz
                  and Itsuki Noda and Jukka Riekki and Patrick Riley
                  and Peter Stone and Tralvex Yeap},
  title =        {Soccerserver Manual Ver. 5.1},
  year  =         1999
}

@InCollection{Heintz99FCFoo,
  author    = {Fredrik Heintz},
  title     = {{FCFoo a short description}},
  booktitle = {Robocup 1999 Team Description: Simulation League},
  publisher = {Link\"{o}ping Electronic Press},
  year      = 1999
}

@InCollection{Heintz99RC,
  author    = {Fredrik Heintz},
  title     = {{FCFoo99}},
  booktitle = {{R}obo{C}up-99: Robot Soccer World Cup III},
  Editor    = {Manuela Veloso and Enrico Pagello and Hiroaki Kitano},
  Publisher = {Springer Verlag}, address={Berlin},
  year      = 2000
}


%% 2000
@MastersThesis{Heintz2000MTh,
  author =    {Fredrik Heintz},
  title =     {{RoboSoc a System for Developing RoboCup Agents for Educational Use}},
  school =    {IDA 00/26, Link\"{o}ping university, Sweden},
  year =      2000,
  month =     {March},
  url =       {http://www.ida.liu.se/~frehe/publications/RoboSocMaster.ps.gz}
}

@Incollection{Heintz2000RC,
  Title="Using Simulated RoboCup in Undergraduate Education",
  Author="Fredrik Heintz and Johan Kummeneje and Paul Scerri",
  Booktitle= "{R}obo{C}up-2000: Robot Soccer World Cup {IV}",
  Editor="Peter Stone and Tucker Balch and Gerhard Kraetszchmar",
  Publisher="Springer Verlag",
  Address="Berlin",
  Year="2001",
  Pages="309--314"
}

@Incollection{NOAI2000RC,
  Title="The NOAI Team Description",
  Author="Anneli Dahlstr{\"o}m and Fredrik Heintz and Martin Jacobsson and Johan Thapper and Martin {\"O}berg",
  Booktitle= "{R}obo{C}up-2000: Robot Soccer World Cup {IV}",
  Editor="Peter Stone and Tucker Balch and Gerhard Kraetszchmar",
  Publisher="Springer Verlag",
  Address="Berlin",
  Year="2001",
  Pages="413--416"
}


%% 2001
@InProceedings{Heintz2001SCAI, 
  Author    = {Fredrik Heintz and Johan Kummeneje and Paul Scerri},
  Title     = {{Using Simulated RoboCup to Teach AI in Undergraduate Education}},
  Booktitle = {Seventh Scandinavian Conference on Artificial Intelligence (SCAI2001)},
  Pages     = {13--21},
  Editor    = {Henrik Hautorp Lund and Brian Mayoh and John Perram},
  Publisher = {IOS Press},
  Address   = {Amsterdam},
  year      = 2001
}

@InProceedings{Heintz2001SAIS,
  Author    = {Fredrik Heintz},
  Title     = {Chronicle Recognition in the {WITAS UAV} Project - A Preliminary Report},
  Booktitle = {Proceedings of the National Swedish Artificial Intelligence Workshop (SAIS2001)},
  year      = 2001
}

@manual{SoccerManual7,
  author =       {Mao Chen and Ehsan Foroughi and Fredrik Heintz and
                  ZhanXiang Huang and Spiros Kapetanakis and
                  Kostas Kostiadis and Johan Kummeneje and Itsuki Noda and
                  Oliver Obst and Patrick Riley and Timo Steffens and
                  Yi Wang and Xiang Yin},
  title =        {Soccerserver Manual Ver. 7},
  year  =         2001
}


%% 2004
@InProceedings{DohertyEtal2004DARS,
  author = 	 {Patrick Doherty and Patrik Haslum and Fredrik Heintz and Torsten Merz and Per Nyblom and Tommy Persson and Bj{\"o}rn Wingman},
  title = 	 {A Distributed Architecture for Autonomous Unmanned Aerial Vehicle Experimentation},
  booktitle = 	 {Proceedings of the 7th International Symposium on Distributed Autonomous Robotic Systems},
  year = 	 {2004}
}

@Article{HeintzDoherty2004JIFS,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {{DyKnow}: An Approach to Middleware for Knowledge Processing},
  journal =      {Journal of Intelligent and Fuzzy Systems},
  year = 	 {2004},
  volume = 	 {15},
  number = 	 {1},
  pages = 	 {3--13},
  month = 	 {nov}
}

@InProceedings{HeintzDoherty2004MSRAS,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {{DyKnow}: A Framework for Processing Dynamic Knowledge and Object Structures in Autonomous Systems},
  booktitle = 	 {Proceedings of the International Workshop on Monitoring, Security, and Rescue Techniques in Multiagent Systems (MSRAS)},
  year = 	 {2004},
  note =         {7-9 June, Plock, Poland}
}

@InProceedings{HeintzDoherty2004Anchoring,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {Managing Dynamic Object Structures using Hypothesis Generation and Validation},
  booktitle = 	 {Proceedings of the AAAI Workshop on Anchoring Symbols to Sensor Data},
  year = 	 {2004}
}


%% 2005
@InProceedings{HeintzDoherty2005MSRAS,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {{DyKnow}: A Framework for Processing Dynamic Knowledge and Object Structures in Autonomous Systems},
  booktitle =    {Monitoring, Security, and Rescue Techniques in Multiagent Systems},
  pages = 	 {479--492},
  year = 	 {2005},
  editor = 	 {Barbara Dunin-Keplicz and Andrzej Jankowski and Andrzej Skowron and Marcin Szczuka},
  series = 	 {Advances in Soft Computing},
  address = 	 {Berlin Heidelberg},
  publisher =    {Springer Verlag}
}

@InProceedings{HeintzDoherty2005SAIS,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {A Knowledge Processing Middleware Framework and its Relation to the JDL Data Fusion Model},
  booktitle = 	 {Proceedings of the Swedish Artificial Intelligence and Learning Systems Workshop 2005},
  pages = 	 {68--77},
  year = 	 {2005},
  editor = 	 {Peter Funk},
  month = 	 {apr}
}

@InProceedings{HeintzDoherty2005Fusion,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {A Knowledge Processing Middleware Framework and its Relation to the JDL Data Fusion Model},
  booktitle = 	 {Proceedings of the Eighth International Conference on Information Fusion (Fusion'05)},
  year = 	 {2005},
  editor = 	 {Erik Blasch},
  month = 	 {july},
  organization = {ISIF, IEEE, AES}
}

@InProceedings{HeintzDoherty2005SWAR,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {A Knowledge Processing Middleware Framework and its Relation to the JDL Data Fusion Model},
  booktitle = 	 {Proceedings of the Swedish Workshop on Autonomous Robotics (SWAR'05)},
  pages = 	 {50--51},
  year = 	 {2005},
  editor = 	 {Petter {\"O}gren},
  month = 	 {sep}
}


%% 2006
@Article{HeintzDoherty2006JIFS,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {A Knowledge Processing Middleware Framework and its Relation to the JDL Data Fusion Model},
  journal =      {Journal of Intelligent and Fuzzy Systems},
  year = 	 {2006},
  volume = 	 {17},
  number = 	 {4},
  pages = 	 {335--351},
  url =          {http://www.ida.liu.se/~frehe/publications/jifs2006.pdf}
}


%% 2007
@InProceedings{HeintzEtal2007Fusion,
  author = 	 {Fredrik Heintz and Piotr Rudol and Patrick Doherty},
  title = 	 {From Images to Traffic Behavior - A UAV Tracking and Monitoring Application},
  booktitle = 	 {Proceedings of the Tenth International Conference on Information Fusion (Fusion'07)},
  year = 	 {2007},
  address =      {Quebec, Canada},
  month =        jul,
  organization = {ISIF, IEEE, AES},
  url =          {http://www.ida.liu.se/~frehe/publications/fusion2007.pdf}
}

@InCollection{HeintzEtal2007KI,
  author = 	 {Fredrik Heintz and Piotr Rudol and Patrick Doherty},
  title = 	 {Bridging the Sense-Reasoning Gap Using DyKnow: A Knowledge Processing Middleware Framework},
  booktitle = 	 {KI 2007: Advances in Artificial Intelligence},
  editor =       {J. Hertzberg and M. Beetz and R. Englert},
  pages =        {460--463},
  year = 	 {2007},
  volume =       {4667},
  publisher =    {Springer},
  address =      {Berlin Heidelberg},
  url =          {http://www.ida.liu.se/~frehe/publications/ki2007.pdf}
}


%% 2008
@InProceedings{HeintzDoherty2008Fusion,
  author = 	 {Fredrik Heintz and Patrick Doherty},
  title = 	 {{DyKnow} Federations: Distributing and Merging Information Among {UAV}s},
  booktitle = 	 {Proceedings of the Eleventh International Conference on Information Fusion (Fusion'08)},
  year = 	 {2008},
  note =         {June 30-July 3, Cologne, Germany},
  url =          {http://www.ida.liu.se/~frehe/publications/fusion2008.pdf}
}

@InProceedings{KvarnstromEtal2008ICAPS,
  author = 	 {Jonas Kvarnstr\"om and Fredrik Heintz and Patrick Doherty},
  title = 	 {A Temporal Logic-Based Planning and Execution Monitoring System},
  booktitle =    {Proceedings of the 18th International Conference on Automated Planning and Scheduling (ICAPS)},
  year = 	 {2008},
  note =         {14-18 September, Sydney, Australia},
  url =          {http://www.ida.liu.se/~frehe/publications/icaps2008.pdf}
}

@InProceedings{HeintzEtal2008DX,
  author = 	 {Fredrik Heintz and Mattias Krysander and Jacob Roll and Erik Frisk},
  title = 	 {{FlexDx}: A Reconfigurable Diagnosis Framework},
  booktitle =    {Proceedings of the 19th International Workshop on Principles of Diagnosis},
  year = 	 {2008},
  note =         {22-24 September, Blue Mountains, Australia},
  url =          {http://www.ida.liu.se/~frehe/publications/dx2008.pdf}
}

@InProceedings{HeintzEtal2008IROSws,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Bridging the Sense-Reasoning Gap: {DyKnow} - A Middleware Component for Knowledge Processing},
  booktitle =    {Proceedings of the IROS workshop on Current software frameworks in cognitive robotics integrating different computational paradigms},
  year = 	 {2008},
  note =         {22 September, Nice, France},
  url =          {http://www.ida.liu.se/~frehe/publications/iros2008ws.pdf}
}

@InProceedings{HeintzEtal2008SIMPAR,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Knowledge Processing Middleware},
  booktitle =	 {Proceedings of the first international conference on
                  Simulation, Modeling, and Programming for Autonomous
                  Robots (SIMPAR)},
  editor =       {S. Carpin and I. Noda and E. Pagello and M. Reggiani and O. von Stryk},
  pages =	 {147--158},
  year =	 {2008},
  volume =	 {5325},
  series =	 {LNAI},
  address =	 {Berlin Heidelberg},
  publisher =    {Springer Verlag},
  note =	 {3-7 November, Venice, Italy},
  url =          {http://www.ida.liu.se/~frehe/publications/simpar2008.pdf}
}

@InProceedings{KrysanderEtal2008CDC,
  author = 	 {Mattias Krysander and Fredrik Heintz and Jacob Roll and Erik Frisk},
  title = 	 {Dynamic Test Selection for Reconfigurable Diagnosis},
  booktitle =    {Proceedings of the 47th IEEE Conference on Decision and Control},
  year = 	 {2008},
  note = 	 {9-11 December Cancun, Mexico},
  url =          {http://www.ida.liu.se/~frehe/publications/cdc2008.pdf}
}


%% 2009
@Article{DohertyEtal2009JAAMAS,
  author = 	 {Patrick Doherty and Jonas Kvarnstr\"om and Fredrik Heintz},
  title = 	 {A Temporal Logic-based Planning and Execution Monitoring Framework for Unmanned Aircraft Systems},
  journal = 	 {Journal of Autonomous Agents and Multi-Agent Systems},
  volume = 	 {19},
  number = 	 {3},
  pages = 	 {332--377},
  year = 	 {2009},
  month =        dec,
  url =          {http://www.ida.liu.se/~frehe/publications/jaamas2009.pdf}
}

@PhdThesis{HeintzPhD2009,
  author = 	 {Fredrik Heintz},
  title = 	 {{DyKnow}: A Stream-Based Knowledge Processing Middleware Framework},
  school =	 {Link\"{o}pings universitet},
  note  =	 {Link{\"o}ping Studies in Science and Technology,
                  Dissertation No 1240},
  year = 	 {2009},
  url =          {http://www.ida.liu.se/~frehe/publications/thesis.pdf}
}

@InProceedings{HeintzEtal2009SR,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Stream Reasoning in DyKnow: A Knowledge Processing Middleware System},
  booktitle =    {Proceedings of the 1th Stream Reasoning Workshop},
  year = 	 {2009},
  note = 	 {31 May Heraklion, Greece},
  url =          {http://www.ida.liu.se/~frehe/publications/sr2009.pdf},
}

@InProceedings{HeintzEtal2009IROS,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {A Stream-Based Hierarchical Anchoring Framework},
  booktitle =    {Proceedings of IROS},
  year = 	 {2009},
  note = 	 {11-15 October St Louis, USA},
  url =          {http://www.ida.liu.se/~frehe/publications/iros2009.pdf},
}

@Article{HeintzEtal2010AEI,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Bridging the Sense-Reasoning Gap: DyKnow -- Stream-Based Middleware for Knowledge Processing},
  journal = 	 {Advanced Engineering Informatics},
  year = 	 {2010},
  volume = 	 {24},
  number = 	 {1},
  pages = 	 {14--26},
  month = 	 jan,
  url =          {http://www.ida.liu.se/~frehe/publications/aei2010.pdf},
}

@InProceedings{HeintzEtal2010ER,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Stream-Based Middleware Support for Embedded Reasoning},
  booktitle =    {AAAI Spring Symposium},
  year = 	 {2010},
  url =          {http://www.ida.liu.se/~frehe/publications/er2010.pdf}
}

@Article{KrysanderEtal2010EAAI,
  author = 	 {Mattias Krysander and Fredrik Heintz and Jacob Roll and Erik Frisk},
  title = 	 {{FlexDx}: A Reconfigurable Diagnosis Framework},
  journal = 	 {Engineering Applications of Artificial Intelligence},
  year = 	 {2010},
  url =          {http://www.ida.liu.se/~frehe/publications/eaai2010.pdf}
}