Sequential, Temporal GOLOG

We extend the ontology and foundational axioms of the sequential situation calculus to include time. When combined with a view of actions with durations as processes that are initiated and terminated by instantaneous actions, this explicit representation of time yields a very rich account of interleaving concurrency in the situation calculus. Based upon this axiomatiza-tion, we extend the semantics and interpreter for the situation calculus-based programming language GOLOG to the temporal domain, and illustrate the resulting increased functionality of the language via a GOLOG program describing the temporal behaviour of a cooee delivery robot. Among other features, this program illustrates how, in the GOLOG framework, one can represent concurrent processes with explicit time.