On-Line Execution of cc-Golog Plans

Previously, the plan language cc-Golog was introduced for the purpose of specifying event-driven behavior typically found in robot controllers. So far, however, cc-Golog is usable only for projecting the outcome of a plan and it is unclear how to actually execute plans on-line on a robot. In this paper, we provide such an execution model for ccGolog and, in addition, show how to interleave execution with a new kind of time-bounded projection. Along the way we also demonstrate how a typical robot control architecture where a high-level controller communicates with low-level processes via messages can be directly modelled in cc-Golog.

• Type: Conference
• Year: 2001
• Where: IJCAI
• Authors: Henrik Grosskreutz, Gerhard Lakemeyer
• Keywords: IJCAI 2001, IJCAI 2007, Plan Language Cc-Golog, Robot Controllers, Typical Robot Control