Temporal Composite Actions with Constraints
Doherty, Patrick Kvarnström, Jonas Szalas, Andrzej
2012 (English)In: Proceedings of the 13th International Conference on Principles of Knowledge Representation and Reasoning (KR), AAAI Press, 2012, 478-488Conference paper (Refereed)
Complex mission or task specification languages play a fundamentally important role in human/robotic interaction. In realistic scenarios such as emergency response, specifying temporal, resource and other constraints on a mission is an essential component due to the dynamic and contingent nature of the operational environments. It is also desirable that in addition to having a formal semantics, the language should be sufficiently expressive, pragmatic and abstract. The main goal of this paper is to propose a mission specification language that meets these requirements. It is based on extending both the syntax and semantics of a well-established formalism for reasoning about action and change, Temporal Action Logic (TAL), in order to represent temporal composite actions with constraints. Fixpoints are required to specify loops and recursion in the extended language. The results include a sound and complete proof theory for this extension. To ensure that the composite language constructs are adequately grounded in the pragmatic operation of robotic systems, Task Specification Trees (TSTs) and their mapping to these constructs are proposed. The expressive and pragmatic adequacy of this approach is demonstrated using an emergency response scenario.
National CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-74668ISBN: 978-1-57735-560-1ISBN: 978-1-57735-561-8OAI: oai:DiVA.org:liu-74668DiVA: diva2:489882
13th International Conference on Principles of Knowledge Representation and Reasoning (KR), June 10-14, Rome, Italy
FunderSwedish Foundation for Strategic Research Linnaeus research environment CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Research Council