Robot Controllers for Highly Dynamic Environments with Real-time Constraints
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In this extended abstract we describe the robot programming and planning language Readylog, a Golog dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of Readylog, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in Readylog for our soccer robots in RoboCup’s Middle-size league, but also for service robots and for autonomous agents in interactive computer games.
KeywordsCognitive robotics Reasoning about actions
I would like to thank my supervisor Gerhard Lakemeyer and the Knowledge-Based Systems Group at RWTH Aachen University for their support and advice during the preparation of my thesis. Further, I would like to thank the Alexander von Humboldt Foundation for supporting me in the Feodor Lynen programme at my current affiliation.
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