Switching tasks and flexible reasoning in the Situation Calculus
AbstractIn this paper we present a new framework for modelling switching tasks and adaptive, flexible behaviours for cognitive robots. The framework is constructed on a suitable extension of the Situation Calculus, the Temporal Flexible Situation Calculus (TFSC), accommodating Allen temporal intervals, multiple timelines and concurrent situations. We introduce a constructive method to define pattern rules for temporal constraint, in a language of macros. The language of macros intermediates between Situation Calculus formulae and temporal constraint Networks. The programming language for the TFSC is TFGolog, a new Golog interpreter in the Golog family languages, that models concurrent plans with flexible and adaptive behaviours with switching modes. Finally, we show an implementation of a cognitive robot performing different tasks while attentively exploring a rescue environment.
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Bibliographic InfoPaper provided by Department of Computer, Control and Management Engineering, Universita' degli Studi di Roma "La Sapienza" in its series DIS Technical Reports with number 2010-07.
Date of creation: Aug 2010
Date of revision:
Cognitive robotics; executive control; cognitive control; switching tasks; adaptive and flexible behaviours; Situation Calculus; action perception and change; temporal planning.;
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