What Is Planning in the Presence of Sensing?

The Airport Example The Omelette Example Copyright c 1996 American Association for Artificial Intelligence. All rights reserved. Despite the existence of programs that are able to generate so-called conditional plans, there has yet to emerge a clear and general specification of what it is these programs are looking for: what exactly is a plan in this setting, and when is it correct? In this paper, we develop and motivate a specification within the situation calculus of conditional and iterative plans over domains that include binary sensing actions. The account is built on an existing theory of action which includes a solution to the frame problem, and an extension to it that handles sensing actions and the effect they have on the knowledge of a robot. Plans are taken to be programs in a new simple robot program language, and the planning task is to find a program that would be known by the robot at the outset to lead to a final situation where the goal is satisfied. This specification...

• Type: Conference
• Year: 1996
• Where: AAAI
• Authors: Hector J. Levesque
• Keywords: AAAI 1996, Intelligent Agents, Robot Program Language, Sensing Actions, So-called Conditional Plans