Constraint nets: a semantic model for hybrid dynamic systems
Theoretical Computer Science - Special issue on hybrid systems
Computational intelligence: a logical approach
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Specification and Verification of Constraint-Based Dynamic Systems
PPCP '94 Proceedings of the Second International Workshop on Principles and Practice of Constraint Programming
Using Reactive Deliberation for Real-Time Control of Soccer-Playing Robots
RoboCup-97: Robot Soccer World Cup I
A Multi-Level Constraint-Based Controller for the Dynamo98 Robot Soccer Team
RoboCup-98: Robot Soccer World Cup II
Synthesis of Hybrid Constraint-Based Controllers
Hybrid Systems II
The synthesis of digital machines with provable epistemic properties
TARK '86 Proceedings of the 1986 conference on Theoretical aspects of reasoning about knowledge
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 1
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The Constraint-Based Agent (CBA) framework is a set of tools for designing, simulating, building, verifying, optimizing, learning and debugging controllers for agents embedded in an active environment. The agent and the environment are modelled symmetrically as, possibly hybrid, dynamical systems in Constraint Nets, as developed by Zhang and Mackworth. This paper is a tutorial overview of the development and application of the CBA framework, emphasizing the important special case where the agent is an online constraint-satisfying device. Here it is often possible to verify complex agents as obeying real-time temporal constraint specifications and, sometimes, to synthesize controllers automatically. The CBA framework demonstrates the power of viewing constraint programming as the creation of online constraint-solvers in dynamic environments.