cc-Golog: Towards More Realistic Logic-Based Robot Controllers

High-level robot controllers in realistic domains typically deal with processes which operate concurrently, change the world continuously, and where the execution of actions is event-driven as in "charge the batteries as soon as the voltage level is low". While non-logic-based robot control languages are well suited to express such scenarios, they fare poorly when it comes to projecting, in a conspicuous way, how the world evolves when actions are executed. On the other hand, a logic-based control language like ConGolog, based on the situation calculus, is well-suited for the latter. However, it has problems expressing event-driven behavior. In this paper, we show how these problems can be overcome by first extending the situation calculus to support continuous change and event-driven behavior and then presenting cc-Golog, a variant of ConGolog which is based on the extended situation calculus. One benefit of cc-Golog is that it narrows the gap in expressiveness compared to ...

• Type: Conference
• Year: 2000
• Where: AAAI
• Authors: Henrik Grosskreutz, Gerhard Lakemeyer
• Keywords: AAAI 2000, Control Languages, Event-driven Behavior, Intelligent Agents, Situation Calculus