Foundations of a functional approach to knowledge representation.
Artificial Intelligence
Decision procedures and expressiveness in the temporal logic of branching time
Journal of Computer and System Sciences
Using backprojections for fine motion planning with uncertainty
International Journal of Robotics Research
Formal theories of knowledge in AI and robotics
New Generation Computing
Sensor-based manipulation planning as a game with nature
Proceedings of the 4th international symposium on Robotics Research
Knowledge and common knowledge in a distributed environment
Journal of the ACM (JACM)
Robot motion planning with uncertainty in control and sensing
Artificial Intelligence
Robot Motion Planning
Action and planning in embedded agents
Robotics and Autonomous Systems
| Hi-index | 0.00 |
Inspired by the success of the distributed computing community in applying logics of knowledge and time to reasoning about distributed protocols, we aim for a similarly powerful and high-level abstraction when reasoning about control problems involving uncertainty. Here we concentrate on robot motion planning, with uncertainty in both control and sensing. This problem has already been well studied within the robotics community. Our contributions include the following: We define a new, natural problem in this domain: obtaining a sound and complete termination condition, given initial and goal locations. We consider a specific class of (simple) motion plans in Rn from the literature, and provide necessary and sufficient conditions for the existence of sound and complete termination conditions for plans in that class. We define a high-level language, a logic of time and knowledge, to reason about motion plans in the presence of uncertainty, and use them to provide general conditions for the existence of sound and complete termination conditions for a broader class of motion plans.