Embedding fuzzy controllers in Golog

Authors:
Alexander Ferrein;Stefan Schiffer;Gerhard Lakemeyer
Affiliations:
Robotics and Agents Research Lab, University of Cape Town, South Africa and Knowledge-Based Systems Group, RWTH Aachen University, Germany;Knowledge-Based Systems Group, RWTH Aachen University, Germany;Knowledge-Based Systems Group, RWTH Aachen University, Germany
Venue:
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Year:
2009

Citing 10
Cited 2

Some contributions to the metatheory of the situation calculus

Journal of the ACM (JACM)
ConGolog, a concurrent programming language based on the situation calculus

Artificial Intelligence
Incremental execution of guarded theories

ACM Transactions on Computational Logic (TOCL) - Special issue devoted to Robert A. Kowalski
Knowlege in action: logical foundations for specifying and implementing dynamical systems

Knowlege in action: logical foundations for specifying and implementing dynamical systems
Fuzzy Control

Fuzzy Control
Knowledge Representation in Fuzzy Logic

IEEE Transactions on Knowledge and Data Engineering
Logic-based robot control in highly dynamic domains

Robotics and Autonomous Systems
On fuzzy logic applications for automatic control, supervision, and fault diagnosis

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Fuzzy Qualitative Robot Kinematics

IEEE Transactions on Fuzzy Systems
A Fuzzy Qualitative Framework for Connecting Robot Qualitative and Quantitative Representations

IEEE Transactions on Fuzzy Systems

Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus

Journal of Intelligent and Robotic Systems
Fuzzy representations and control for domestic service robots in golog

ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II

Quantified Score

Hi-index	0.02

Visualization

Abstract

High-level behaviour specification of an intelligent autonomous agent or robot is a non-trivial task. Various approaches exist some of which try to combine different paradigms like programming and planning. In this paper, we show how to integrate fuzzy logic controllers into the logic-based programming language Golog. Golog already allows for combining programming and planning. By adding the instrument of fuzzy controllers we provide the means to have a natural specification of rules for tasks that require a high amount of reactivity. Since the facilities already present in Golog remain, we add to an already powerful framework thus expanding the applicability of Golog for high-level behaviour specification of a robot or agent.