Reactivity in a Logic-Based Robot Programming Framework

Abstract

A robot must often react to events in its environment and exceptional conditions by suspendingor 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 robot/agent 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.

DOI: 10.1007/10719619_13

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Cite this paper

@inproceedings{Lesprance1999ReactivityIA, title={Reactivity in a Logic-Based Robot Programming Framework}, author={Yves Lesp{\'e}rance and Kenneth Tam and Michael R. M. Jenkin}, booktitle={ATAL}, year={1999} }