PLANNER: A Language for Proving Theorems in Robots

PLANNER is a language f o r p r o v i n g theorems and m a n i p u l a t i n g models in a r o b o t . The language i s b u i l t ou t o f a number o f p rob lem s o l v i n g p r i m i t i v e s t o g e t h e r w i t h a h i e r a r c h i c a l c o n t r o l s t r u c t u r e . S ta tements can b e a s s e r t e d and perhaps l a t e r w i t h d r a w n a s t h e s t a t e o f t he w o r l d changes. C o n c l u s i o n s can be drawn f r om t h e s e v a r i o u s changes i n s t a t e . Goals can be e s t a b l i s h e d and d i s m i s s e d when t h e y a r e s a t i s f i e d . The d e d u c t i v e system o f PLANNER is s u b o r d i n a t e t o t h e h i e r a r c h i c a l c o n t r o l s t r u c t u r e i n o r d e r t o make the language e f f i c i e n t . The use o f a g e n e r a l purpose m a t c h i n g language makes t h e d e d u c t i v e system more p o w e r f u l .