High-Level Robot Control through Logic [chapter]

Murray Shanahan, Mark Witkowski
2001 Lecture Notes in Computer Science  
This paper presents a programmable logic-based agent control system that interleaves planning, plan execution and perception. In this system, a program is a collection of logical formulae describing the agent's relationship to its environment. Two such programs for a mobile robot are described -one for navigation and one for map building -that share much of their code. The map building program incorporates a rudimentary approach to the formalisation of epistemic fluents, knowledge goals, and knowledge producing actions.
doi:10.1007/3-540-44631-1_8 fatcat:wjraf3aicjbgvao7igbeylwqfq