Applications of circumscription to formalizing common-sense knowledge
Artificial Intelligence
The society of mind
A Prolog technology theorem prover: implementation by an extended Prolog computer
Journal of Automated Reasoning
On the relationship between circumscription and negation as failure
Artificial Intelligence
A Prolog technology theorem prover: a new exposition and implementation in Prolog
Theoretical Computer Science - Selected papers on theoretical issues of design and implementation of symbolic computation systems
Representing action: indeterminacy and ramifications
Artificial Intelligence
Artificial intelligence: a new synthesis
Artificial intelligence: a new synthesis
Elaboration tolerance of logical theories
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
A Dynamic, Real-Time Testbed for Resource Management Technology
IPDPS '01 Proceedings of the 15th International Parallel & Distributed Processing Symposium
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We describe a logic-based AI architecture based on Brooks' subsumption architecture. In this architecture, we axiomatize different layers of control in First-Order Logic (FOL) and use independent theorem provers to derive each layer's outputs given its inputs. We implement the subsumption of lower layers by higher layers using circumscription to make assumptions in lower layers, and nonmonotonically retract them when higher layers draw new conclusions. WTe also give formal semantics to our approach. Finally, we describe four layers designed for the task of robot control and an experiment that empirically shows the feasibility of using fully expressive FOL theorem provers for robot control with our architecture.