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On-Line Decision-Theoretic Golog for Unpredictable Domains

  • Alexander Ferrein
  • Christian Fritz
  • Gerhard Lakemeyer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3238)

Abstract

DTGolog was proposed by Boutilier et al. as an integration of decision-theoretic (DT) planning and the programming language Golog. Advantages include the ability to handle large state spaces and to limit the search space during planning with explicit programming. Soutchanski developed a version of DTGolog, where a program is executed on-line and DT planning can be applied to parts of a program only. One of the limitations is that DT planning generally cannot be applied to programs containing sensing actions. In order to deal with robotic scenarios in unpredictable domains, where certain kinds of sensing like measuring one’s own position are ubiquitous, we propose a strategy where sensing during deliberation is replaced by suitable models like computed trajectories so that DT planning remains applicable. In the paper we discuss the necessary changes to DTGolog entailed by this strategy and an application of our approach in the RoboCup domain.

Keywords

Situation Calculus Stochastic Action Nondeterministic Choice Exogenous Action Basic Action Theory 
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 2004

Authors and Affiliations

  • Alexander Ferrein
    • 1
  • Christian Fritz
    • 1
  • Gerhard Lakemeyer
    • 1
  1. 1.Computer Science DepartmentRWTH AachenAachen

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