Classic planning for mobile robots

The paper describes an approach to reasoning about actions and plan generation within the framework of description logics Our proposal is considered classic since it is in the style of deductive planning and it relies upon the reasoning capabilities of description logics that are realized in the system Classic From an epistemological point of view our approach is based on the formalization of actions given by dynamic logics but we exploit their correspondence with description logics to turn the formalization into an actual implementation In particular we are able to carefully weaken the logical inference process thus making the reasoning of the robot computationally feasible From a practical viewpoint we use a general purpose knowledge based environment based on description logics and its associated reasoning tools in order to plan the actions of the mobile robot Tino starting from the knowledge about the environment and the action speci cation The robot s reactive capabilities allow it to execute such plans in the real