Bridging the Gap between High-Level Reasoning and Low-Level Control

  • Ozan Caldiran
  • Kadir Haspalamutgil
  • Abdullah Ok
  • Can Palaz
  • Esra Erdem
  • Volkan Patoglu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5753)


We present a formal framework where a nonmonotonic formalism (the action description language \({\cal C}+\)) is used to provide robots with high-level reasoning, such as planning, in the style of cognitive robotics. In particular, we introduce a novel method that bridges the high-level discrete action planning and the low-level continuous behavior by trajectory planning. We show the applicability of this framework on two LEGO MINDSTORMS NXT robots, in an action domain that involves concurrent execution of actions that cannot be serialized.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Ozan Caldiran
    • 1
  • Kadir Haspalamutgil
    • 1
  • Abdullah Ok
    • 1
  • Can Palaz
    • 1
  • Esra Erdem
    • 1
  • Volkan Patoglu
    • 1
  1. 1.Faculty of Engineering and Natural SciencesSabancı UniversityIstanbulTurkey

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