AAAI Publications, Twenty-Sixth AAAI Conference on Artificial Intelligence

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A First-Order Interpreter for Knowledge-Based Golog with Sensing based on Exact Progression and Limited Reasoning
Yi Fan, Minghui Cai, Naiqi Li, Yongmei Liu

Last modified: 2012-07-14


While founded on the situation calculus, current implementations of Golog are mainly based on the closed-world assumption or its dynamic versions or the domain closure assumption. Also, they are almost exclusively based on regression. In this paper, we propose a first-order interpreter for knowledge-based Golog with sensing based on exact progression and limited reasoning. We assume infinitely many unique names and handle first-order disjunctive information in the form of the so-called proper+ KBs. Our implementation is based on the progression and limited reasoning algorithms for proper+ KBs proposed by Liu, Lakemeyer and Levesque. To improve efficiency, we implement the two algorithms by grounding via a trick based on the unique name assumption. The interpreter is online but the programmer can use two operators to specify offline execution for parts of programs. The search operator returns a conditional plan, while the planning operator is used when local closed-world information is available and calls a modern planner to generate a sequence of actions.


Action, Change, and Causality; Cognitive Robotics; Knowledge Representation

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