Logic Programming for Robot Control
Proc. 14th International Joint Conference on AI (IJCAI-95),
Montreal, August, 1995, 150-157.
This paper proposes logic programs as a specification for robot
control. These provide a formal specification of what an agent should
do depending on what it senses, and its previous sensory inputs and actions.
We show how to axiomatise reactive agents, events as an interface
between continuous and discrete time, and persistence, as well as
axiomatising integration and differentiation over time (in terms of
the limit of sums and differences). This specification need not be
evaluated as a Prolog program; we use can the fact that it will
be evaluated in time to get a more efficient agent. We give a detailed
example of a nonholonomic maze travelling robot, where we use the same
language to model both the agent and the environment. One of the main
motivations for this work is that there is a clean interface between
the logic programs here and the model of uncertainty embedded in
probabilistic Horn abduction. This is one step towards building a
decision-theoretic planning system where the output of the planner is
a plan suitable for actually controlling a robot.
You can get the paper.
Last updated 21 Apr 95 - David Poole