Lecture: HOW TO CONTROL A ROBOT USING A REASONING SYSTEM
Author: Pei Wang
1. What is the proper format for a reasoning system and a robot to exchange information? 2. What types of inference are needed for a reasoning system to control a robot?
Mark Wernsdorfer, U. Bamberg, Germany
Gudny R. Jonsdottir, IIIM, Iceland
Hamid Pourvatan, IIIM, Iceland
John-Jules Meyer, U. of Utrecht, the Netherlands
reasoning system can serve multiple robots
but reasoning system cannot act
problem might be, that everything is reasoning, nothing is reactive
introducing a reactive part could preprocess information and therefore reduce information exchange and processing time
first order logic is undecidable, domain knowledge could be reagarded like weak, local axioms
language can be expressed by a- and t-box (relations are t-box and facts are a-box)
uncertainty in inference represented by frequency and certainty (c = w / (1 + w))
what is w?
how is knowledge propagated?
no problem with negative evidence, following open world assumption
Eric Baum, USA
Helgi Páll Helgason, Reykjavik U.
Pei Wang, Temple U., USA
Ricardo Sanz, U. Madrid
Actions are not traditionally constructs of logic languages, they can usually not be executed to a degree (binary nature). Uncertainty regarding the effects of actions needs to be taken into account. Many actions will have associated precondition. Reliability of preconditions (frequency/confidence) should effect beliefs about action outcome. Confidence in the outcome of an action should also effect the selection of that action. If an action has ever been observed producing outcomes that are bad in the current or similar contexts, this should also effect the selection of that action.
Operations are executable statements. But executable by whom?
NARS as a general purpose controller.
Format proposed by Pei:
Actions need to be translated for the executing device. Language of the reasoning system needs to be general enough and tolerate uncertainty. Sensors generate beliefs, translated from the device to the reasoning system, which may have varying degrees of confidence.
An action (executed to achieve a goal) can produce outcomes that make other currently active goals impossible to achieve.
Hannes Högni Vilhjalmsson, Reykjavik U.
Deon Garrett, IIIM, Iceland
Yngvi Björnsson, Reykjavik U.
James Bonaiuto, Cal Tech, USA
Marjan Sirjani, Reykjavik U.
Antonio Chella, U. Palermo, Italy
Hrafn Th. Thorisson, IIIM, Iceland
Haris Dindo, U. Palermo, Italy
Anna Ingolfsdottir, Reykjavik U.
Bas Steunebrink, IDSIA, Switzerland
Kristinn R. Thórisson, Reykjavik U. / IIIM, Iceland
Eric Nivel, Reykjavik U.
Jörg Siekman, DFKI, Germany