Reactivity in a Logic-Based Robot Programming Framework

  • Yves Lespérance
  • Kenneth Tam
  • Michael Jenkin
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1757)

Abstract

A robot must often react to events in its environment and exceptional conditions by suspending or abandoning its current plan and selecting a new plan that is an appropriate response to the event. This paper describes how high-level controllers for robots that are reactive in this sense can conveniently be implemented in ConGolog, a new logic-based agent/robot programming language. Reactivity is achieved by exploiting ConGolog’s prioritized concurrent processes and interrupts facilities. The language also provides nondeterministic constructs that support a form of planning. Program execution relies on a declarative domain theory to model the state of the robot and its environment. The approach is illustrated with a mail delivery application.

Keywords

Mobile Robot Primitive Action Situation Calculus Exogenous Event Nondeterministic Choice 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Yves Lespérance
    • 1
  • Kenneth Tam
    • 1
  • Michael Jenkin
    • 1
  1. 1.Dept. of Computer ScienceYork UniversityTorontoCanada

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