Qualitative representation of positional information
Artificial Intelligence
ConGolog, a concurrent programming language based on the situation calculus
Artificial Intelligence
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Knowlege in action: logical foundations for specifying and implementing dynamical systems
Decision-Theoretic, High-Level Agent Programming in the Situation Calculus
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Logic-based robot control in highly dynamic domains
Robotics and Autonomous Systems
A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Embedding fuzzy controllers in Golog
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
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In the RoboCup@Home domestic service robot competition, complex tasks such as "get the cup from the kitchen and bring it to the living room" or "find me this and that object in the apartment" have to be accomplished. At these competitions the robots may only be instructed by natural language. As humans use qualitative concepts such as "near" or "far", the robot needs to cope with them, too. For our domestic robot, we use the robot programming and plan language Readylog, our variant of Golog. In previous work we extended the action language Golog, which was developed for the high-level control of agents and robots, with fuzzy concepts and showed how to embed fuzzy controllers in Golog. In this paper, we demonstrate how these notions can be fruitfully applied to two domestic service robotic scenarios. In the first application, we demonstrate how qualitative fluents based on a fuzzy set semantics can be deployed. In the second program, we show an example of a fuzzy controller for a follow-a-person task.