Robot Control Systems as Contextual Logic Programs


Enrico Denti, Antonio Natali, Andrea Omicini, Francesco Zanichelli

Christoph Beierle, Lutz Plümer (eds.)
Logic Programming: Formal Methods and Practical Applications, chapter 12, pages 343–379
Studies in Computer Science and Artificial Intelligence 11
Elsevier
1995

The aim of this work is to discuss how Logic Programming (LP) can meet the increasing requirements of robot applications, with respect to programming models, techniques, and tools. A new approach to the integration between object-oriented, knowledge-based and logic programming is introduced, by exploiting an extension to LP called Contextual Logic Programming, which allows users to define, both statically and dynamically, extendible software components, and to promote incremental design and development of (declarative) software systems. A support for task-level robot programming (called CARA, Contextual Agent Robot Architecture) is introduced as an extension/specialization of a general-purpose Contextual-LP environment. By providing high-level abstractions such as backtrackable objects and logic theories as communication devices, CARA seems to effectively help reducing the gap between low-level and high-level software layers, and coordinating the interaction of different, even heterogeneous, agents. In order to show CARA performance in real applications, a case-study is discussed where a robot has to perform a set of tasks of increasing complexity, from pure reactive behaviours to tasks involving high-level forms of reasoning.

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Created by Andrea Omicini on 12/10/2020 17:47

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Publication

— authors

— editors

Christoph Beierle, Lutz Plümer

— status

published

— sort

book chapter

— publication date

1995

— volume

Logic Programming: Formal Methods and Practical Applications

— series

Studies in Computer Science and Artificial Intelligence

— volume

11

— chapter

12

— pages

343–379

identifiers

— DBLP

books/el/beierleP95/DentiNOZ95

— Scopus

2-s2.0-85023302187

— print ISBN

978-0-444-82092-1

— ISBN–10

0-444-82092-2

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