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In 1969 Cordell Green presented his seminal description of planning as theorem proving with the situation calculus. The most pleasing feature of Green's account was the negligible gap between high-level logical specification and practical implementation. This paper attempts to reinstate the ideal of planning via theorem proving in a modern guise. In(More)
This article presents the event calculus, a logic-based formalism for representing actions and their effects. A circumscriptive solution to the frame problem is deployed which reduces to monotonic predicate completion. Using a number of benchmark examples from the literature, the formalism is shown to apply to a variety of domains, including those featuring(More)
The Event Calculus of Kowalski and Sergot only deals with discrete change. This paper introduces a simplified version of the Event Calculus and extends it to deal with continuous change, as in the height of a falling object or the level of liquid in a filling vessel. The idea of autotermination is introduced. A period of continuous change autoterminates if(More)
Understanding how dynamic changes in brain activity control behavior is a major challenge of cognitive neuroscience. Here, we consider the brain as a complex dynamic system and define two measures of brain dynamics: the synchrony of brain activity, measured by the spatial coherence of the BOLD signal across regions of the brain; and metastability, which we(More)
This paper describes the Region Occlusion Calculus (ROC-20), that can be used to model spatial occlusion and the effects of motion parallax of arbitrary shaped objects. ROC-20 assumes the region based ontology of RCC-8 and extends Galton's Lines of Sight Calculus by allowing concave shaped objects into the modelled domain. This extension is used to describe(More)
This paper proposes a brain-inspired cognitive architecture that incorporates approximations to the concepts of consciousness, imagination, and emotion. To emulate the empirically established cognitive efficacy of conscious as opposed to non-conscious information processing in the mammalian brain, the architecture adopts a model of information flow from(More)
A narrative is a course of real events about which we might have incomplete information. Formalisms for reasoning about action may be broadly divided into those which are narrative-based, such as the Event Calculus of Kowalski and Sergot, and those which reason on the level of hypothetical sequences of actions, in particular the Situation Calculus. This(More)
Spiking neural network simulators provide environments in which to implement and experiment with models of biological brain structures. Simulating large-scale models is computationally expensive, however, due to the number and interconnectedness of neurons in the brain. Furthermore, where such simulations are used in an embodied setting, the simulation must(More)
This article presents a formal theory of robot perception as a form of abduction. The theory pins down the process whereby low-level sensor data is transformed into a symbolic representation of the external world, drawing together aspects such as incompleteness, top-down information flow, active perception, attention, and sensor fusion in a unifying(More)