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)


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.


Mobile Robot Primitive Action Situation Calculus Exogenous Event Nondeterministic Choice 
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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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