Reasoning Robots

by Thielscher, Michael

• ISBN13: 9781402030680
• ISBN10: 1402030681
• Format: Hardcover
• Copyright: 2005-11-30
• Publisher: Kluwer Academic Pub

Summary

"This book provides an in-depth and uniform treatment of a mathematical model for robotic agents. It also contains an introduction to a programming method and system based on this model." "The mathematical model is supplemented by a programming method, called FLUX, which allows readers to design their own reasoning robotic agents." "The usage of this method is illustrated by many example programs. The book includes a detailed description of an implementation of FLUX in the standard programming language Prolog."--BOOK JACKET.

Table of Contents

Preface	ix
Special Fluent Calculus	1	(24)
Fluents and States	3	(8)
Actions and Situations	11	(4)
State Update Axioms	15	(7)
Bibliographical Notes	22	(1)
Exercises	23	(2)
Special FLUX	25	(34)
The Kernel	26	(9)
Specifying a Domain	35	(3)
Control Programs	38	(10)
Exogenous Actions	48	(7)
Bibliographical Notes	55	(2)
Exercises	57	(2)
General Fluent Calculus	59	(16)
Incomplete States	60	(4)
Updating Incomplete States	64	(6)
Bibliographical Notes	70	(2)
Exercises	72	(3)
General FLUX	75	(28)
Incomplete FLUX States	75	(3)
FLUX Constraint Solver *	78	(9)
Correctness of the Constraint Solver *	87	(3)
Updating Incomplete FLUX States	90	(8)
Bibliographical Notes	98	(1)
Exercises	99	(4)
Knowledge Programming	103	(40)
Representing State Knowledge	104	(3)
Inferring Knowledge in FLUX	107	(4)
Knowledge Update Axioms	111	(10)
Specifying a Domain in FLUX	121	(9)
Knowledge Agent Programs	130	(8)
Bibliographical Notes	138	(2)
Exercises	140	(3)
Planning	143	(30)
Planning Problems	144	(7)
Plan Evaluation	151	(1)
Planning with Complex Actions	152	(5)
Conditional Planning	157	(12)
Bibliographical Notes	169	(1)
Exercises	170	(3)
Nondeterminism	173	(18)
Uncertain Effects	173	(8)
Dynamic Fluents	181	(6)
Bibliographical Notes	187	(1)
Exercises	188	(3)
Imprecision *	191	(20)
Modeling Imprecise Sensors	192	(5)
Modeling Imprecise Effectors	197	(3)
Hybrid FLUX	200	(8)
Bibliographical Notes	208	(1)
Exercises	209	(2)
Indirect Effects: Ramification Problem *	211	(32)
Causal Relationships	213	(7)
Inferring Ramifications of Actions	220	(10)
Causality in FLUX	230	(9)
Bibliographical Notes	239	(1)
Exercises	240	(3)
Troubleshooting: Qualification Problem	243	(30)
Accidental Action Failure	244	(9)
Preferred Explanations	253	(4)
Troubleshooting in FLUX	257	(5)
Persistent Qualifications	262	(7)
Bibliographical Notes	269	(2)
Exercises	271	(2)
Robotics	273	(12)
Control Architectures	273	(2)
Localization	275	(4)
Navigation	279	(3)
Bibliographical Notes	282	(1)
Exercises	283	(2)
A. FLUX Manual	285	(28)
A.1 Kernel Predicates	285	(12)
A.2 User-Defined Predicates	297	(16)
Bibliography	313	(12)
Index	325