Deriving Fluents from Sensor Data for Mobile Robots

Mark Witkowski, David Randell, and Murray Shanahan

In this paper we consider some practical issues of grounding logical symbols derived from low-level sensor streams in the context of a miniature mobile robot. We identify three distinct layers, primitive, derived and synthetic, at which symbols may be anchored in order to connect a model-based view of the robot’s world with its sensory input. The Event Calculus, a logical formalism for reasoning about action, forms the basis of an abductive approach to several related robot tasks, sensor data assimilation, planning and map building.


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