Keyword: golog
2023 (1)
Towards Bridging the Gap between High-Level Reasoning and Execution on Robots. Hofmann, T. Ph.D. Thesis, RWTH Aachen University, Aachen, Germany, 2023.
![Towards Bridging the Gap between High-Level Reasoning and Execution on Robots [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper abstract bibtex 14 downloads
Paper abstract bibtex 14 downloads When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic primitives with deterministic effects and preconditions that only depend on the current state. However, when executing such an action on a robot it can no longer be seen as a primitive. Instead, action execution is a complex task involving multiple steps with additional temporal preconditions and timing constraints. Furthermore, the action may be noisy, e.g., producing erroneous sensing results and not always having the desired effects. While these aspects are typically ignored in reasoning tasks, they need to be dealt with during execution. In this thesis, we propose several approaches towards closing this gap. Based on a logic that combines the situation calculus with metric time and metric temporal logic, we model the robot platform with timed automata and temporal constraints to describe the connection between the high-level actions and the robot platform. We then describe two approaches towards transforming the high-level program. First, we view the transformation as a synthesis problem, where the task is to synthesize a controller that executes the program while satisfying the specification, independent of the environment's choices. We show that the synthesis problem is decidable, describe an algorithm to construct a controller, and evaluate the approach in two robotics scenarios. While this approach supports controlling arbitrary Golog programs against any specification with timing constraints, it does not scale well. For this reason, we describe a second approach based on some simplifying assumptions which allow us to view the transformation problem as a reachability problem on timed automata, which can be solved with state-of-the-art tools. We demonstrate the effectiveness and scalability of the approach in a number of scenarios. Finally, we turn towards noisy sensors and effectors. Based on DS, a probabilistic variant of the situation calculus that allows modeling the agent's degree of belief, we describe an abstraction framework for Golog programs with noisy actions. In this framework, a high-level and non-stochastic program is mapped to a more detailed and stochastic low-level program. As the high-level program is non-stochastic, we may use non-probabilistic reasoning methods such as task planning or classical Golog program execution. At the same time, by mapping the abstract actions to low-level programs, we may still deal with uncertainty during execution. We define a suitable notion of bisimulation that guarantees the equivalence between the high-level and low-level programs and demonstrate the approach with an example.
@phdthesis{hofmannBridgingGapHighlevel2023,
title = {Towards Bridging the Gap between High-Level Reasoning and Execution on Robots},
author = {Hofmann, Till},
year = {2023},
address = {{Aachen, Germany}},
url = {https://doi.org/10.18154/RWTH-2023-10508},
abstract = {When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic primitives with deterministic effects and preconditions that only depend on the current state. However, when executing such an action on a robot it can no longer be seen as a primitive. Instead, action execution is a complex task involving multiple steps with additional temporal preconditions and timing constraints. Furthermore, the action may be noisy, e.g., producing erroneous sensing results and not always having the desired effects. While these aspects are typically ignored in reasoning tasks, they need to be dealt with during execution. In this thesis, we propose several approaches towards closing this gap. Based on a logic that combines the situation calculus with metric time and metric temporal logic, we model the robot platform with timed automata and temporal constraints to describe the connection between the high-level actions and the robot platform. We then describe two approaches towards transforming the high-level program. First, we view the transformation as a synthesis problem, where the task is to synthesize a controller that executes the program while satisfying the specification, independent of the environment's choices. We show that the synthesis problem is decidable, describe an algorithm to construct a controller, and evaluate the approach in two robotics scenarios. While this approach supports controlling arbitrary Golog programs against any specification with timing constraints, it does not scale well. For this reason, we describe a second approach based on some simplifying assumptions which allow us to view the transformation problem as a reachability problem on timed automata, which can be solved with state-of-the-art tools. We demonstrate the effectiveness and scalability of the approach in a number of scenarios. Finally, we turn towards noisy sensors and effectors. Based on DS, a probabilistic variant of the situation calculus that allows modeling the agent's degree of belief, we describe an abstraction framework for Golog programs with noisy actions. In this framework, a high-level and non-stochastic program is mapped to a more detailed and stochastic low-level program. As the high-level program is non-stochastic, we may use non-probabilistic reasoning methods such as task planning or classical Golog program execution. At the same time, by mapping the abstract actions to low-level programs, we may still deal with uncertainty during execution. We define a suitable notion of bisimulation that guarantees the equivalence between the high-level and low-level programs and demonstrate the approach with an example.},
school = {RWTH Aachen University},
keywords = {artificial intelligence,belief-based programs,cognitive robotics,Golog,knowledge representation,metric temporal logic,situation calculus,stochastic actions,synthesis,timed systems,verification}
}2018 (1)
golog++ : An Integrative System Design. Mataré, V., Schiffer, S., & Ferrein, A. In Steinbauer, G. & Ferrein, A., editors, Proceedings of the 11th Cognitive Robotics Workshop 2018 (CogRob), co-located with the 16th International Conference on Principles of Knowledge Representation and Reasoning, CogRob@KR 2018, volume 2325, of CEUR Workshop Proceedings, pages 29–35, Aachen, 2018. CEUR-WS.org.
Paper Proc abstract bibtex
Paper Proc abstract bibtex Golog is a language family with great untapped potential. We argue that it could become a practical and widely usable high-level control language, if only it had an implementation that is usable in a production environment. In this paper, we do not specify another Golog interpreter, but an extensible C++ framework that defines a coherent grammar, developer tool support, internal/external consistency checking with clean error handling, and a simple, portable platform interface. The framework specifically does not implement language semantics. For this purpose we can simply hook into any of the many existing implementations that do very well in implementing language semantics, but fall short in regards to interfacing, portability, usability and practicality in general.
@inproceedings{Matare:EtAl:CogRob2018:gologpp,
title = {golog++ : An Integrative System Design},
author = {Victor Matar{\'{e}} and Stefan Schiffer and Alexander Ferrein},
pages = {29--35},
booktitle = {Proceedings of the 11th Cognitive Robotics Workshop 2018 (CogRob),
co-located with the 16th International Conference on
Principles of Knowledge Representation and Reasoning, CogRob@KR 2018},
year = 2018,
location = {Tempe, AZ, USA},
editor = {Gerald Steinbauer and Alexander Ferrein},
volume = {2325},
publisher = {CEUR-WS.org},
series = {CEUR Workshop Proceedings},
address = {Aachen},
issn = {1613-0073},
url = {http://ceur-ws.org/Vol-2325/#paper-06},
url_proc = {http://ceur-ws.org/Vol-2325/},
venue = {Tempe, AZ, USA},
eventdate = {2018-10-27},
keywords = {ConTrAkt, high-level programming, golog, agent programming},
abstract = {Golog is a language family with great untapped
potential. We argue that it could become a practical
and widely usable high-level control language, if
only it had an implementation that is usable in a
production environment. In this paper, we do not
specify another Golog interpreter, but an extensible
C++ framework that defines a coherent grammar,
developer tool support, internal/external
consistency checking with clean error handling, and
a simple, portable platform interface. The framework
specifically does not implement language
semantics. For this purpose we can simply hook into
any of the many existing implementations that do
very well in implementing language semantics, but
fall short in regards to interfacing, portability,
usability and practicality in general.},
}2011 (2)
A Formal Framework for Combining Natural Instruction and Demonstration for End-User Programming. Fritz, C. & Gil, Y. In Proceedings of the 2011 International Conference on Intelligent User Interfaces (IUI), February 13-16, 2011, Palo Alto, CA, USA, 2011. Nominated for Best Paper Award.
![A Formal Framework for Combining Natural Instruction and Demonstration for End-User Programming [pdf]](https://bibbase.org/img/filetypes/pdf.svg "pdf")
Paper bibtex 2 downloads
Paper bibtex 2 downloads @InProceedings{ fri-gil-iui2011,
author = {Christian Fritz and Yolanda Gil},
title = {A Formal Framework for Combining Natural Instruction and Demonstration for End-User Programming},
booktitle = {Proceedings of the 2011 International Conference on Intelligent User Interfaces (IUI), February 13-16, 2011, Palo Alto, CA, USA},
year = 2011,
bibbase_note = {<span style="color: green">Nominated for Best Paper Award.</span>},
url = {fri-gil-iui11.pdf},
keywords = {Programming by Demonstration, Golog}
}Golog-style Search Control for Planning. Baier, J. A., Fritz, C., & McIlraith, S. A. In Lakemeyer, G. & McIlraith, S. A., editors, Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque. College Publications, 2011.
Paper bibtex 1 download
Paper bibtex 1 download @InCollection{ bai-fri-mci-hecfest11,
author = {Jorge A. Baier and Christian Fritz and Sheila A. McIlraith},
title = {Golog-style Search Control for Planning},
booktitle = {Knowing, Reasoning, and Acting: Essays in Honour of Hector J. Levesque},
publisher = {College Publications},
year = 2011,
editor = {Gerhard Lakemeyer and Sheila A. McIlraith},
url = {bai-fri-mci-hecfest11.pdf},
keywords = {Golog, Planning}
}2010 (1)
Towards the Integration of Programming by Demonstration and Programming by Instruction using Golog. Fritz, C. & Gil, Y. In AAAI Workshop on Plan, Activity, and Intent Recognition (PAIR) 2010, 2010. The version found here is the extended version including the proofs.
Paper bibtex 2 downloads
Paper bibtex 2 downloads @InProceedings{ fri-gil-aaai10ws,
author = {Christian Fritz and Yolanda Gil},
title = {Towards the Integration of Programming by Demonstration and Programming by Instruction using Golog},
booktitle = {AAAI Workshop on Plan, Activity, and Intent Recognition (PAIR) 2010},
year = 2010,
urlPaper = {fri-gil-aaai10ws_techreport.pdf},
keywords = {Golog, Programming by Demonstration},
note = {The version found here is the extended version including the proofs.}
}2009 (1)
Embedding Fuzzy Controllers into Golog. Ferrein, A., Schiffer, S., & Lakemeyer, G. In Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09), pages 894–899, ICC Jeju, Jeju Island, Korea, August 20-24, 2009. IEEE, IEEE.
Paper doi abstract bibtex
Paper doi abstract bibtex High-level behaviour specification of an intelligent autonomous agent or robot is a non-trivial task. Various approaches exist some of which try to combine different paradigms like programming and planning. In this paper, we show how to integrate fuzzy logic controllers into the logic-based programming language Golog. Golog already allows for combining programming and planning. By adding the instrument of fuzzy controllers we provide the means to have a natural specification of rules for tasks that require a high amount of reactivity. Since the facilities already present in Golog remain, we add to an already powerful framework thus expanding the applicability of Golog for high-level behaviour specification of a robot or agent.
@inproceedings {Ferrein:Schiffer:Lakemeyer:2009:EmbeddingFuzzyControllorsGolog,
title = {Embedding Fuzzy Controllers into Golog},
booktitle = {Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09)},
year = {2009},
month = {August 20-24},
pages = {894--899},
publisher = {IEEE},
organization = {IEEE},
type = {inproceedings},
address = {ICC Jeju, Jeju Island, Korea},
abstract = {High-level behaviour specification of an intelligent autonomous agent or robot is a non-trivial task. Various approaches exist some of which try to combine different paradigms like programming and planning. In this paper, we show how to integrate fuzzy logic controllers into the logic-based programming language Golog. Golog already allows for combining programming and planning. By adding the instrument of fuzzy controllers we provide the means to have a natural specification of rules for tasks that require a high amount of reactivity. Since the facilities already present in Golog remain, we add to an already powerful framework thus expanding the applicability of Golog for high-level behaviour specification of a robot or agent.},
keywords = {Controller, Fuzzy, Golog},
issn = {1098-7584},
doi = {10.1109/FUZZY.2009.5277161},
url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/fuzz-ieee2009pole.pdf},
author = {Ferrein, Alexander and Schiffer, Stefan and Lakemeyer, Gerhard}
}2008 (2)
ConGolog, Sin Trans: Compiling ConGolog into Basic Action Theories for Planning and Beyond. Fritz, C., Baier, J. A., & McIlraith, S. A. In Proceedings on the 11th International Conference on Principles of Knowledge Representation and Reasoning, pages 600–610, Sydney, Australia, September 16–19, 2008. Technical Report CSRG-576, containing the proofs of the theorems and a more detailed description of the compilation, can be found here.
Paper bibtex 2 downloads
Paper bibtex 2 downloads @InProceedings{fri-bai-mci-kr08,
author = {Christian Fritz and Jorge A. Baier and Sheila A. McIlraith},
title = {Con{G}olog, {S}in {T}rans: Compiling {ConGolog} into Basic Action Theories for Planning and Beyond},
booktitle = {Proceedings on the 11th International Conference on Principles of Knowledge Representation and Reasoning},
year = 2008,
urlPaper= {fri-bai-mci-kr08.pdf},
address = {Sydney, Australia},
month = {September 16--19},
pages = {600--610},
note = {Technical Report CSRG-576, containing the proofs of the theorems and a more detailed description of the compilation, can be found <a href="ftp://ftp.cs.toronto.edu/csrg-technical-reports/576/fri-bai-mci-kr08-techreport.pdf">here</a>.},
keywords = {Golog}
}Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners. Baier, J. A., Fritz, C., Bienvenu, M., & McIlraith, S. In Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI), Nectar Track, pages 1509–1512, Chicago, Illinois, USA, July 13–17, 2008.
Paper bibtex 8 downloads
Paper bibtex 8 downloads @InProceedings{ bai-fri-bie-mci-aaai08nectar,
author = {Jorge A. Baier and Christian Fritz and Meghyn Bienvenu and Sheila McIlraith},
title = {Beyond Classical Planning: Procedural Control Knowledge and Preferences in State-of-the-Art Planners},
booktitle = {Proceedings of the 23rd AAAI Conference on Artificial Intelligence (AAAI), Nectar Track},
year = 2008,
urlPaper= {bai-fri-bie-mci-aaai08nectar.pdf},
address = {Chicago, Illinois, USA},
month = {July 13--17},
pages = {1509--1512},
keywords = {Golog}
}2007 (1)
Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners. Baier, J. A., Fritz, C., & McIlraith, S. A. In Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS), pages 26–33, Providence, Rhode Island, USA, September 22–26, 2007.
Paper abstract bibtex 3 downloads
Paper abstract bibtex 3 downloads Domain control knowledge (DCK) has proven effective in improving the efficiency of plan generation by reducing the search space for a plan. Procedural DCK is a compelling type of DCK that supports a natural specification of the skeleton of a plan. Unfortunately, most state-of-the-art planners do not have the machinery necessary to exploit procedural DCK. To resolve this deficiency, we propose to compile procedural DCK directly into PDDL2.1, thus enabling any PDDL2.1-compatible planner to exploit it. The contribution of this paper is threefold. First, we propose a PDDL-based semantics for an Algol-like, procedural language that can be used to specify DCK in planning. Second, we provide a polynomial algorithm that translates an ADL planning instance and a DCK program, into an equivalent, program-free PDDL2.1 instance whose plans are only those that adhere to the program. Third, we argue that the resulting planning instance is well-suited to being solved by domain-independent heuristic planners. To this end, we propose three approaches to computing domain-independent heuristics for our translated instances, sometimes leveraging properties of our translation to guide search. In our experiments on familiar PDDL planning benchmarks we show that the proposed compilation of procedural DCK can significantly speed up the performance of a heuristic search planner. Our translators are implemented and available on the web.
@InProceedings{ bai-fri-mci-icaps07,
author = {Jorge A. Baier and Christian Fritz and Sheila A. McIlraith},
title = {Exploiting Procedural Domain Control Knowledge in State-of-the-Art Planners},
booktitle = {Proceedings of the 17th International Conference on Automated Planning and Scheduling (ICAPS)},
year = 2007,
urlPaper= {bai-fri-mci-icaps07.pdf},
address = {Providence, Rhode Island, USA},
month = {September 22--26},
pages = {26--33},
OPTnote = { <i>The proofs of the included theorems can be found in <a href="ftp://ftp.cs.toronto.edu/csrg-technical-reports/565/565.pdf">Technical Report CSRG-565</a>.</i>},
abstract = {Domain control knowledge (DCK) has proven effective in improving
the efficiency of plan generation by reducing the search space
for a plan. Procedural DCK is a compelling type of DCK that
supports a natural specification of the skeleton of a plan.
Unfortunately, most state-of-the-art planners do not have the
machinery necessary to exploit procedural DCK. To resolve this
deficiency, we propose to compile procedural DCK directly into
PDDL2.1, thus enabling any PDDL2.1-compatible planner to exploit
it. The contribution of this paper is threefold. First, we
propose a PDDL-based semantics for an Algol-like, procedural
language that can be used to specify DCK in planning. Second, we
provide a polynomial algorithm that translates an ADL planning
instance and a DCK program, into an equivalent, program-free
PDDL2.1 instance whose plans are only those that adhere to the
program. Third, we argue that the resulting planning instance is
well-suited to being solved by domain-independent heuristic
planners. To this end, we propose three approaches to computing
domain-independent heuristics for our translated instances,
sometimes leveraging properties of our translation to guide
search. In our experiments on familiar PDDL planning benchmarks
we show that the proposed compilation of procedural DCK can
significantly speed up the performance of a heuristic search
planner. Our translators are implemented and available on the
web.
},
keywords = {Golog}
}2006 (1)
Decision-Theoretic Golog with Qualitative Preferences. Fritz, C. & McIlraith, S. In Proceedings of the 10th International Conference on Principles of Knowledge Representation and Reasoning (KR), pages 153-163, Lake District, UK, June 2–5, 2006.
Paper bibtex 2 downloads
Paper bibtex 2 downloads @InProceedings{ KR0603FritzC.pdf_200603061828,
AUTHOR={Christian Fritz and Sheila McIlraith},
TITLE={Decision-Theoretic {Golog} with Qualitative Preferences},
BOOKTITLE={Proceedings of the 10th International Conference on Principles of Knowledge Representation and Reasoning (KR)},
address={Lake District, UK},
month={June 2--5},
YEAR={2006},
pages = {153-163},
URLPaper={200603061828_KR0603FritzC.pdf},
keywords = {Golog, Planning with Preferences}
}2005 (4)
Compiling Qualitative Preferences into Decision-Theoretic Golog Programs: Extended Version with Proofs. Fritz, C. & McIlraith, S. Technical Report CSRG-522, University of Toronto, May, 2005.
Paper bibtex 1 download
Paper bibtex 1 download @TechReport{ extended_200507311452,
author = {Christian Fritz and Sheila McIlraith},
title = {Compiling Qualitative Preferences into Decision-Theoretic {Golog} Programs: Extended Version with Proofs},
institution = {University of Toronto},
year = 2005,
urlPaper= {200507311452_extended.pdf},
number = {CSRG-522},
month = {May},
URLPaper={200507311452_extended.pdf},
keywords = {Golog, Planning with Preferences}
}Representing flexible temporal behaviors in the situation calculus. Finzi, A. & Pirri, F. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), pages 436–441, 2005. ISSN: 10450823
bibtex
bibtex
@inproceedings{finzi_representing_2005,
title = {Representing flexible temporal behaviors in the situation calculus},
booktitle = {Proceedings of the {International} {Joint} {Conference} on {Artificial} {Intelligence} ({IJCAI})},
author = {Finzi, Alberto and Pirri, Fiora},
year = {2005},
note = {ISSN: 10450823},
keywords = {abstract, golog, situation calculus, temporal},
pages = {436--441}
}Using Golog for Deliberation and Team Coordination in Robotic Soccer. Ferrein, A., Fritz, C., & Lakemeyer, G. KI, 19(1):24-31, 2005.
Paper bibtex 1 download
Paper bibtex 1 download @Article{ Ferrein2005Using.pdf_200506061855,
author = {Alexander Ferrein and
Christian Fritz and
Gerhard Lakemeyer},
title = {Using Golog for Deliberation and Team Coordination in Robotic
Soccer},
journal = {KI},
volume = {19},
number = {1},
year = {2005},
urlPaper= {200506061855_Ferrein2005Using.pdf},
pages = {24-31},
keywords = {Golog, RoboCup}
}Compiling Qualitative Preferences into Decision-Theoretic Golog Programs. Fritz, C. & McIlraith, S. In Proceedings of The 6th Workshop on Nonmonotonic Reasoning, Action, and Change (at IJCAI05), Edinburgh, UK, August 1, 2005.
Paper bibtex 2 downloads
Paper bibtex 2 downloads @InProceedings{ fri-mci-nrac05f.pdf_200506061537,
AUTHOR={Christian Fritz and Sheila McIlraith},
TITLE={Compiling Qualitative Preferences into Decision-Theoretic {Golog} Programs},
BOOKTITLE={Proceedings of The 6th Workshop on Nonmonotonic Reasoning, Action, and Change (at IJCAI05)},
MONTH={August 1},
ADDRESS={Edinburgh, UK},
YEAR={2005},
URLPaper={200506061537_fri-mci-nrac05f.pdf},
keywords = {Golog, Planning with Preferences}
}2004 (1)
On-line Decision-Theoretic Golog for Unpredictable Domains. Ferrein, A., Fritz, C., & Lakemeyer, G. In Proceedings of 27th German Conference on AI (KI), pages 322–336, Ulm, Germany, September 20–24, 2004. Also appeared at The 4th International Cognitive Robotics Workshop (at ECAI04), August 23–24, Valencia, Spain.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{ fer-fri-lak-ki04,
AUTHOR={A. Ferrein and C. Fritz and G. Lakemeyer},
TITLE={On-line Decision-Theoretic {Golog} for Unpredictable Domains},
BOOKTITLE = {Proceedings of 27th German Conference on AI (KI)},
pages={322--336},
address={Ulm, Germany},
month={September 20--24},
YEAR={2004},
URLPaper={200506061854_Ferrein2004OnlineCogRob.pdf},
keywords = {Golog, RoboCup},
note = {Also appeared at The 4th International Cognitive Robotics Workshop (at ECAI04), August 23--24, Valencia, Spain.}
}2003 (3)
Integrating decision-theoretic planning and programming for robot control in highly dynamic domains. Fritz, C. Master's thesis, RWTH Aachen University, Germany, November, 2003.
Paper bibtex 1 download
Paper bibtex 1 download @MastersThesis{ Fritz2003Integrating.pdf_200506061853,
AUTHOR={Christian Fritz},
TITLE={Integrating decision-theoretic planning and programming for robot control in highly dynamic domains},
SCHOOL={RWTH Aachen University, Germany},
MONTH={November},
YEAR={2003},
URLPaper={200506061853_Fritz2003Integrating.pdf},
keywords = {Golog, RoboCup}
}Extending DTGolog with Options. Ferrein, A., Fritz, C., & Lakemeyer, G. In Proceedings of the 18th International Joint Conference on Artificial Intelligence (IJCAI), pages 1394–1395, Acapulco, Mexico, August, 2003.
bibtex 1 download
bibtex 1 download
@inproceedings{ferrein_extending_2003,
address = {Acapulco, Mexico},
title = {Extending {DTGolog} with {Options}},
copyright = {All rights reserved},
booktitle = {Proceedings of the 18th {International} {Joint} {Conference} on {Artificial} {Intelligence} ({IJCAI})},
author = {Ferrein, Alexander and Fritz, Christian and Lakemeyer, Gerhard},
month = aug,
year = {2003},
keywords = {Golog},
pages = {1394--1395},
}cc-Golog - An Action Language with Continuous Change. Grosskreutz, H. Logic Journal of IGPL, 11(2):179–221, 2003.
Paper doi abstract bibtex
Paper doi abstract bibtex High-level robot controllers often need to specify event-driven behavior and they operate low-level processes which change the world in a continuous fashion. While non logic-based control languages have existed for some time to address these issues, this is not the case for logic-based languages. To remedy the situation, we show how to incorporate continuous change and event-driven behavior into the action language GOLOG. Besides proposing a suitable semantics for the new language, which we call cc-Golog, we show how a robot architecture where a high-level controller communicates via messages with low-level routines can be modeled naturally in this new dialect. Finally, we demonstrate how on-line execution and off-line projection can be combined in this language.
@article{grosskreutz_cc-golog_2003,
title = {cc-{Golog} - {An} {Action} {Language} with {Continuous} {Change}},
volume = {11},
issn = {1367-0751},
url = {http://jigpal.oxfordjournals.org/content/11/2/179.short},
doi = {10.1093/jigpal/11.2.179},
abstract = {High-level robot controllers often need to specify event-driven behavior and they operate low-level processes which change the world in a continuous fashion. While non logic-based control languages have existed for some time to address these issues, this is not the case for logic-based languages. To remedy the situation, we show how to incorporate continuous change and event-driven behavior into the action language GOLOG. Besides proposing a suitable semantics for the new language, which we call cc-Golog, we show how a robot architecture where a high-level controller communicates via messages with low-level routines can be modeled naturally in this new dialect. Finally, we demonstrate how on-line execution and off-line projection can be combined in this language.},
number = {2},
journal = {Logic Journal of IGPL},
author = {Grosskreutz, Henrik},
year = {2003},
keywords = {golog, reading list},
pages = {179--221}
}2001 (1)
Simulation of Advanced Transaction Models Using GOLOG. Kiringa, I In Proceedings of the 8th Biennial Workshop on Data Bases and Programming Languages (DBPL'01), 2001.
Paper bibtex 3 downloads
Paper bibtex 3 downloads @InProceedings{Kiringa01a,
Title = {Simulation of Advanced Transaction Models Using GOLOG},
Author = {Kiringa, I},
Booktitle = {Proceedings of the 8th Biennial Workshop on Data Bases
and Programming Languages (DBPL'01)},
Year = {2001},
File = {dbpl01.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/dbpl01.pdf:PDF;dbpl01.ps:http\://www.cs.toronto.edu/cogrobo/Papers/dbpl01.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/dbpl01.ps.gz},
Timestamp = {2018.09.23},
Url = {dbpl01.pdf}
}2000 (6)
An Embedding of ConGolog in 3APL. Hindriks, K., Lespérance, Y., & Levesque, H. Technical Report UU-CS-2000-13, Department of Computer Science, University Utrecht, 2000.
Paper bibtex 1 download
Paper bibtex 1 download @TechReport{Hindriks00b,
Title = {An Embedding of ConGolog in 3{APL}},
Author = {Hindriks, Koen and Lesp\'erance, Yves and Levesque,
Hector},
Institution = {Department of Computer Science, University Utrecht},
Year = {2000},
Number = {UU-CS-2000-13},
Key = {CogRobo},
Keywords = {Golog},
Timestamp = {2018.09.23},
Url = {Hindriks00b.pdf}
}ConGolog, A Concurrent Programming Language Based on the Situation Calculus. De Giacomo, G., Lespérance, Y., & Levesque, H. Artificial Intelligence, 121(1–2):109–169, 2000.
Paper bibtex 2 downloads
Paper bibtex 2 downloads @Article{Giuseppe00-ConGologAi,
Title = {Con{G}olog, A Concurrent Programming Language Based on
the Situation Calculus},
Author = {De Giacomo, Giuseppe and Lesp\'erance, Yves and
Levesque, Hector},
Journal = {Artificial Intelligence},
Year = {2000},
Number = {1--2},
Pages = {109--169},
Volume = {121},
File = {ConGologAIJ.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/ConGologAIJ.pdf:PDF;ConGologAIJ.ps:http\://www.cs.toronto.edu/cogrobo/Papers/ConGologAIJ.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Timestamp = {2018.09.23},
Url = {ConGologAIJ.pdf}
}Decision-Theoretic, High-Level Agent Programming in the Situation Calculus. Boutilier, C., Reiter, R., Soutchanski, M., & Thrun, S. In Workshop on Decision-Theoretic Planning, Seventh International Conference on Principles of Knowledge Representation and Reasoning (KR2000), Breckenridge, Colorado, Apr, 2000.
Paper bibtex 3 downloads
Paper bibtex 3 downloads @InProceedings{Boutilier00,
Title = {Decision-Theoretic, High-Level Agent Programming in
the Situation Calculus},
Author = {Boutilier, Craig and Reiter, Ray and Soutchanski,
Mikhail and Thrun, Sebastian},
Booktitle = {Workshop on Decision-Theoretic Planning, Seventh
International Conference on Principles of Knowledge
Representation and Reasoning (KR2000)},
Year = {2000},
Address = {Breckenridge, Colorado},
Month = {Apr},
File = {dtgologKR00W.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/dtgologKR00W.pdf:PDF;dtgologKR00W.ps:http\://www.cs.toronto.edu/cogrobo/Papers/dtgologKR00W.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/dtgologKR00W.ps.gz},
Timestamp = {2018.09.23},
Url = {dtgologKR00W.pdf}
}cc-Golog: Towards More Reaslitic Logic-Based Robot Controllers. Grosskreutz, H. & Lakemeyer, G. In Proceedings of AAAI-00, Austin, Texas, Jul, 2000.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Grosskreutz00,
Title = {cc-Golog: Towards More Reaslitic Logic-Based Robot
Controllers},
Author = {Grosskreutz, Henrik and Lakemeyer, Gerhard},
Booktitle = {Proceedings of AAAI-00},
Year = {2000},
Address = {Austin, Texas},
Month = {Jul},
Key = {CogRobo2},
Keywords = {Golog},
Optnote = { \\ {\sf Extends the situation calculus and ConGolog
to model continuous and event-driven behavior. cc-Golog
can wait for events and execute plans while guarding
certain constraints.}},
Timestamp = {2018.09.23},
Url = {Grosskreutz00.pdf}
}An On-line Decision-Theoretic Golog Interpreter. Soutchanski, M. In The 2nd International Cognitive Robotics Workshop (held in conjunction with ECAI-2000) , Berlin, Germany, August, 2000.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Soutchanski00,
Title = {An On-line Decision-Theoretic Golog Interpreter},
Author = {Soutchanski, Mikhail},
Booktitle = {The 2nd International Cognitive Robotics Workshop
(held in conjunction with ECAI-2000) },
Year = {2000},
Address = {Berlin, Germany},
Month = {August},
File = {onlinedtgi.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/onlinedtgi.pdf:PDF;onlinedtgi.ps:http\://www.cs.toronto.edu/cogrobo/Papers/onlinedtgi.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/onlinedtgi.ps.gz},
Timestamp = {2018.09.23},
Url = {onlinedtgi.pdf}
}LeGolog: Inexpensive Experiments in Cognitive Robotics. Levesque, H. & Pagnucco, M. In Proceedings of the Second International Cognitive Robotics Workshop, Berlin, Germany, August, 2000.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Levesque00-Legolog,
Title = {Le{G}olog: {I}nexpensive Experiments in Cognitive
Robotics},
Author = {Levesque, Hector and Pagnucco, Maurice},
Booktitle = {Proceedings of the Second International Cognitive
Robotics Workshop},
Year = {2000},
Address = {Berlin, Germany},
Month = {August},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/crw00.ps},
Timestamp = {2018.09.23},
Url = {crw00.pdf}
}1999 (1)
Extending ConGolog to Allow Partial Ordering. Baral, C. & Cao Son, T. In Proceedings of ATAL-99, pages 188–204, 1999.
Paper bibtex
Paper bibtex @InProceedings{Baral99,
Title = {Extending {C}on{G}olog to Allow Partial Ordering},
Author = {Baral, Chitta and Cao Son, Tran},
Booktitle = {Proceedings of ATAL-99},
Year = {1999},
Pages = {188--204},
Key = {CogRobo2},
Keywords = {Golog},
Optnote = { \\ {\sf Extends ConGolog with a new $htn$-construct
to express plans with partial ordering. The idea is to
incoporate the advantages of hierarchical task networks
(HTN) into the ConGolog high-level language. }},
Timestamp = {2018.09.23},
Url = {Baral99.pdf}
}1998 (1)
Sequential, Temporal GOLOG. Reiter, R. In Principles of Knowledge Representation and Reasoning: Proceedings of the Sixth International Conference (KR'98), pages 547–556, Trento, Italy, 1998.
Paper bibtex
Paper bibtex @InProceedings{Reiter98,
Title = {Sequential, Temporal GOLOG},
Author = {Reiter, Ray},
Booktitle = {Principles of Knowledge Representation and Reasoning:
Proceedings of the Sixth International Conference
(KR'98)},
Year = {1998},
Address = {Trento, Italy},
Pages = {547--556},
File = {reiterkr98.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/reiterkr98.pdf:PDF;reiterkr98.ps:http\://www.cs.toronto.edu/cogrobo/Papers/reiterkr98.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/reiterkr98.ps.gz},
Timestamp = {2018.09.23},
Url = {reiterkr98.pdf}
}1997 (4)
An Experiment in Using Golog to Build a Personal Banking Assistant. Lespérance, Y., Levesque, H. J., & Ruman, S. In Rao, L. & Wobcke, W., editors, Intelligent Agent Systems: Theoretical and Practical Issues, volume 1209, of Lectures Notes in Artificial Intelligence (LNAI), pages 27–43, 1997. Springer-Verlag.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Lesperance97,
Title = {An Experiment in Using Golog to Build a Personal
Banking Assistant},
Author = {Lesp\'erance, Y. and Levesque, H. J. and Ruman, S.},
Booktitle = {Intelligent Agent Systems: Theoretical and Practical
Issues},
Year = {1997},
Editor = {Rao, L. and Wobcke, W.},
Pages = {27--43},
Publisher = {Springer-Verlag},
Series = {Lectures Notes in Artificial Intelligence (LNAI)},
Volume = {1209},
File = {bankingAgt.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/bankingAgt.pdf:PDF;bankingAgt.ps:http\://www.cs.toronto.edu/cogrobo/Papers/bankingAgt.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/bankingAgt.ps.gz},
Timestamp = {2018.09.23},
Url = {bankingAgt.pdf}
}Specifying Communicative Multi-Agent Systems with ConGolog. Shapiro, S., Lespérance, Y., & Levesque, H. J. In In Working Notes of the AAAI Fall 1997 Symposium on Communicative Action in Humans and Machines, pages 72–82, Cambridge, MA, Novemeber, 1997. AAAI Press.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Shapiro97,
Title = {Specifying Communicative Multi-Agent Systems with ConGolog},
Author = {Shapiro, S. and Lesp\'erance, Y. and Levesque, H. J.},
Booktitle = {In Working Notes of the AAAI Fall 1997 Symposium on Communicative Action in Humans and Machines},
Year = {1997},
Address = {Cambridge, MA},
Month = {Novemeber},
Pages = {72--82},
Publisher = {AAAI Press},
File = {AAAIfall97.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/AAAIfall97.pdf:PDF;AAAIfall97.ps:http\://www.cs.toronto.edu/cogrobo/Papers/AAAIfall97.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/AAAIfall97.ps.gz},
Timestamp = {2018.09.23},
Url = {AAAIfall97.pdf}
}Reasoning About Concurrent Execution, Prioritized Interrupts, and Exogenous Actions in the Situation Calculus. De Giacomo, G., Lespérance, Y., & Levesque, H. In Proceedings of the Fifteenth International Joint Conference on AI (IJCAI-97), pages 1221–1226, Nagoya, August, 1997.
Paper bibtex 1 download
Paper bibtex 1 download @InProceedings{Giuseppe97-ConGolog1,
Title = {Reasoning About Concurrent Execution, Prioritized
Interrupts, and Exogenous Actions in the Situation
Calculus},
Author = {De Giacomo, Giuseppe and Lesp\'erance, Yves and
Levesque, Hector},
Booktitle = {Proceedings of the Fifteenth International Joint
Conference on AI (IJCAI-97)},
Year = {1997},
Address = {Nagoya},
Month = {August},
Pages = {1221--1226},
File = {congologIJCAI97.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/congologIJCAI97.pdf:PDF;congologIJCAI97.ps:http\://www.cs.toronto.edu/cogrobo/Papers/congologIJCAI97.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/congologIJCAI97.ps.gz},
Timestamp = {2018.09.23},
Url = {congologIJCAI97.pdf}
}GOLOG: A Logic Programming Language for Dynamic Domains. Levesque, H., Reiter, R., Lespérance, Y., Lin, F., & Scherl, R. Journal of Logic Programming, 31:59–84, 1997.
Paper bibtex 3 downloads
Paper bibtex 3 downloads @Article{Levesque97-Golog,
Title = {{GOLOG}: {A} Logic Programming Language for Dynamic
Domains},
Author = {Levesque, H. and Reiter, R. and Lesp\'erance, Y. and
Lin, F. and Scherl, R.},
Journal = {Journal of Logic Programming},
Year = {1997},
Pages = {59--84},
Volume = {31},
File = {GOLOGlang.pdf:http\://www.cs.toronto.edu/cogrobo/Papers/GOLOGlang.pdf:PDF;GOLOGlang.ps:http\://www.cs.toronto.edu/cogrobo/Papers/GOLOGlang.ps:PostScript},
Key = {CogRobo},
Keywords = {Golog},
Opturl = {http://www.cs.toronto.edu/cogrobo/Papers/GOLOGlang.ps.gz},
Timestamp = {2018.09.23},
Url = {GOLOGlang.pdf}
}