Mikhail Soutchanski

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We propose a framework for robot programming which allows the seamless integration of explicit agent programming with decision-theoretic planning. Specifically, the DTGolog model allows one to partially specify a control program in a highlevel, logical language, but also provides an interpreter that— given a logical axiomatization of a domain—will determine(More)
Imagine a robot that is executing a program on line and insofar as it is reasonable to do so it wishes to continue with this on line program execution no matter what exoge nous events occur in the world Execution monitoring is the robot s process of observ ing the world for discrepancies between the actual world and its internal representation of it and(More)
We consider an on-line decision-theoretic interpreter and incremental execution of Golog programs. This new interpreter is intended to overcome some limitations of the off-line interpreter proposed in [Boutilier et al., 2000]. We introduce two new search control operators that can be mentioned in Golog programs: the on-line interpreter takes advantage of(More)
We consider a modified version of the situation calculus built using a two-variable fragment of the first-order logic extended with counting quantifiers. We mention several additional groups of axioms that can be introduced to capture taxonomic reasoning. We show that the regression operator in this framework can be defined similarly to regression in(More)
We propose a domain independent execution monitoring technique for a class of restartable logic-based temporal programs. The execution of a temporal program is interleaved with monitoring. Given a remaining part of a program, an execution trace, and the current time, if at this time no plan satisfying temporal constraints can be generated from the remaining(More)
We propose a logical framework for robot programming which allows the seamless integration of explicit agent programming with planning and with monitoring of a plan when it is executed in the real world. Specifically, the Golog model allows one to partially specify a control program in a highlevel, logical language, and provides an interpreter that, given a(More)
It has been argued that causal rules are necessary for representing both implicit side-effects of actions and action qualifications, and there have been a number different approaches for representing causal rules in the area of formal theories of actions. These different approaches in general agree on rules without cycles. However, they differ on causal(More)