Chapter

Logic Programming and Nonmonotonic Reasoning

Volume 5753 of the series Lecture Notes in Computer Science pp 342-354

Bridging the Gap between High-Level Reasoning and Low-Level Control

  • Ozan CaldiranAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University
  • , Kadir HaspalamutgilAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University
  • , Abdullah OkAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University
  • , Can PalazAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University
  • , Esra ErdemAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University
  • , Volkan PatogluAffiliated withFaculty of Engineering and Natural Sciences, Sabancı University

* Final gross prices may vary according to local VAT.

Get Access

Abstract

We present a formal framework where a nonmonotonic formalism (the action description language \({\cal C}+\)) is used to provide robots with high-level reasoning, such as planning, in the style of cognitive robotics. In particular, we introduce a novel method that bridges the high-level discrete action planning and the low-level continuous behavior by trajectory planning. We show the applicability of this framework on two LEGO MINDSTORMS NXT robots, in an action domain that involves concurrent execution of actions that cannot be serialized.