Reasoning about High - Level Robot Behaviors by Model Checking andLocal
نویسندگان
چکیده
In this paper we explore a research direction in reasoning about actions stemming from the Robot-Tino Project at the University of Rome. We introduce a logical formalism that combines a very expressive logic of programs, the modal mu-calculus, with a special use of a minimal knowledge operator. Reasoning in such formalism can be done by integrating model checking for modal mu-calculus and propositional inference. This allows for exploiting existing model checking techniques and systems for reasoning about complex high-level robot behaviors, without renouncing to deal with incomplete information on the initial state and both the preconditions and the eeects of actions.
منابع مشابه
Reasoning about High-Level Robot Behaviors by Model Checking and Local Validity Tests
In this paper we explore a research direction in reasoning about actions stemming from the Robot-Tino Project at the University of Rome. We introduce a logical formalism that combines a very expressive logic of programs, the modal mu-calculus, with a special use of a minimal knowledge operator. Reasoning in such formalism can be done by integrating model checking for modal mu-calculus and propo...
متن کاملReasoning about Robot Actions: A Model Checking Approach
Mobile robot control remains a difficult challenge in changing and unpredictable environments. Reacting to unanticipated events, interacting and coordinating with other agents, and acquiring information about the world remain difficult problems. These actions should be the direct products of the robot’s capabilities to perceive, act, and process information intelligently, taking into account it...
متن کاملA Robot Control System Integrating Reactive Control, Reasoning, and Execution Monitoring
We present a robot control system that integrates robust reactive control with efficient reasoning about actions and execution monitoring. On the reactive level, the robot is controlled using a hierarchy of low-level behaviors. On the high level, a logical representation of the world enables the robot to reason about the state of the world and to plan action sequences. If the execution of an ac...
متن کاملUnderstanding the intention of human activities through semantic perception: observation, understanding and execution on a humanoid robot
In this work, we present and demonstrate that with an appropriate semantic representation and even with a very naive perception system, it is sufficient to infer human activities from observations. First, we present a method to extract the semantic rules of human everyday activities. Namely, we extract low-level information from the sensor data and then we infer the high-level by reasoning abou...
متن کاملCombining Model Checking and Runtime Verification for Safe Robotics
A major challenge towards large scale deployment of autonomous mobile robots is to program them with formal guarantees and high assurance of correct operation. To this end, we present a framework for building safe robots. Our approach for validating the end-to-end correctness of robotics system consists of two parts: 1) a high-level programming language for implementing and systematically testi...
متن کامل