Abstract
To achieve any meaningful tasks, a robot needs some form of task-level executive which acquires knowledge, reasons or plans, and performs and monitors actions. A formal approach for such agent programming is the Golog agent programming language. Golog is based on a first-order logic representation, and a drawback of common implementations is that in order to program agents, also knowledge of Prolog functionality is typically needed. In this paper, we present a prototype implementation of YAGI, a language rooted in Golog that offers a practical subset of the rich Golog framework in a more familiar syntax. Bridging imperative-style programming with an action-based specification, YAGI is more accessible to developers and provides a better ground for robot task-level executives. Moreover, we developed bindings for popular robotics frameworks such as ROS and Fawkes. As a proof of concept we present a YAGI-based agent for the RoboCup Logistics League which shows the expressiveness and the possibility to easily embed YAGI into robot applications.
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Acknowledgments
T. Niemueller was supported by the German National Science Foundation (DFG) research unit FOR 1513 on Hybrid Reasoning for Intelligent Systems (http://www.hybrid-reasoning.org). C. Mühlbacher was supported by the Austrian Research Promotion Agency (FFG) with the grant Guaranteeing Service Robot Dependability During the Entire Life Cycle (GUARD). We thank the anonymous reviewers for their helpful comments.
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Ferrein, A., Maier, C., Mühlbacher, C., Niemueller, T., Steinbauer, G., Vassos, S. (2016). Controlling Logistics Robots with the Action-Based Language YAGI. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_46
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