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)
Knowledge and common knowledge in a byzantine environment: crash failures
Information and Computation
Robot motion planning with uncertainty in control and sensing
Artificial Intelligence
Reasoning about knowledge
Robot Motion Planning
Applications of a logic of knowledge to motion planning under uncertainty
Journal of the ACM (JACM)
Implementing knowledge-based programs
TARK '96 Proceedings of the 6th conference on Theoretical aspects of rationality and knowledge
Knowledge considerations in robotics and distribution of robotic tasks
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 1
Towards action prediction using a mental-level model
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
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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 define a high-level language, a logic of time and knowledge, to reason about motion plans in the presence of uncertainty, and use it to provide general conditions for the existence of sound and complete termination conditions for a broad class of motion plans. • We characterize the optimal sound termination conditions for the general problem, relate them to a class of fundamental knowledge based protocols and provide a natural example of knowledge based protocols lacking a canonical implementation.