LiU Electronic Press
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Author:
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies) (Linköping University, The Institute of Technology)
Kvarnström, Jonas (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology) (APD)
Szalas, Andrzej (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Temporal Composite Actions with Constraints
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the 13th International Conference on Principles of Knowledge Representation and Reasoning (KR)
Conference:
13th International Conference on Principles of Knowledge Representation and Reasoning (KR), June 10-14, Rome, Italy
Publisher: AAAI Press
Pages:
478-488
Year of publ.:
2012
URI:
urn:nbn:se:liu:diva-74668
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-74668
ISBN:
978-1-57735-560-1, 978-1-57735-561-8
Subject category:
Computer Science
SVEP category:
Computer science
Project:
CUAS, CADICS, NFFP5, LinkLab
Abstract(en) :

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.

Research funder:
Swedish Foundation for Strategic Research
Research funder:
Linnaeus research environment CADICS
Research funder:
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Research funder:
Swedish Research Council
Available from:
2012-02-03
Created:
2012-02-03
Last updated:
2013-08-29
Statistics:
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