Abstract
DTGolog was proposed by Boutilier et al. as an integration of decision-theoretic (DT) planning and the programming language Golog. Advantages include the ability to handle large state spaces and to limit the search space during planning with explicit programming. Soutchanski developed a version of DTGolog, where a program is executed on-line and DT planning can be applied to parts of a program only. One of the limitations is that DT planning generally cannot be applied to programs containing sensing actions. In order to deal with robotic scenarios in unpredictable domains, where certain kinds of sensing like measuring one’s own position are ubiquitous, we propose a strategy where sensing during deliberation is replaced by suitable models like computed trajectories so that DT planning remains applicable. In the paper we discuss the necessary changes to DTGolog entailed by this strategy and an application of our approach in the RoboCup domain.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Beetz, M., Schmitt, T., Hanek, R., Buck, S., Stulp, F., Schröter, D., Radig, B.: The AGILO 2001 robot soccer team. Experience-based learning and probabilistic reasoning in autonomous robot control. Autonomous Robots (2004)
Boutilier, C., Reiter, R., Price, B.: Symbolic dynamic programming for firstorder MDPs. IJCAI, 690–700 (2001)
Boutilier, C., Reiter, R., Soutchanski, M., Thrun, S.: Decision-theoretic, highlevel agent programming in the situation calculus. In: Proc. of AAAI 2000, pp. 355–362, July 3-30, AAAI Press, Menlo Park (2000)
De Giacomo, G., Lésperance, Y., Levesque, H.J.: ConGolog, A concurrent programming language based on situation calculus. Artificial Intelligence 121(1-2), 109–169 (2000)
De Giacomo, G., Levesque, H.: An incremental interpreter for high-level programs with sensing. In: Levesque, H.J., Pirri, F. (eds.) Logical Foundation for Cognitive Agents: Contributions in Honor of Ray Reiter, pp. 86–102. Springer, Berlin (1999)
Grosskreutz, H., Lakemeyer, G.: On-line execution of cc-Golog plans. In: Proc. of IJCAI 2001 (2001)
Großmann, A., Hölldobler, S., Skvortsova, O.: Symbolic dynamic programming with the Fluent Calculus. In: Proc. IASTED (ACI 2002), pp. 378–383 (2002)
Lespérance, Y., Ng, H.-K.: Integrating planning into reactive high-level robot programs. In: Proc. 2nd Int. Cognitive Robotics Workshop, pp. 49–54 (2000)
Levesque, H.J., Reiter, R., Lesperance, Y., Lin, F., Scherl, R.B.: GOLOG: A logic programming language for dynamic domains. Journal of Logic Programming 31(1-3), 59–83 (1997)
Lin, F., Reiter, R.: How to progress a database. Artificial Intelligence 92(1-2), 131–167 (1997)
McCarthy, J.: Situations, actions and causal laws. Technical report, Stanford University (1963)
Poole, D.: The independent choice logic for modelling multiple agents under uncertainty. Artificial Intelligence 94(1-2), 7–56 (1997)
Puterman, M.: Markov Decision Processes: Discrete Dynamic Programming. Wiley, New York (1994)
Reiter, R.: Knowledge in Action. MIT Press, Cambridge (2001)
Shanahan, M.: The event calculus explained. In: Veloso, M.M., Wooldridge, M.J. (eds.) Artificial Intelligence Today. LNCS (LNAI), vol. 1600, pp. 409–430. Springer, Heidelberg (1999)
Soutchanski, M.: An on-line decision-theoretic golog interpreter. In: Proc. IJCAI 2001, Seattle, Washington (August 2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ferrein, A., Fritz, C., Lakemeyer, G. (2004). On-Line Decision-Theoretic Golog for Unpredictable Domains. In: Biundo, S., Frühwirth, T., Palm, G. (eds) KI 2004: Advances in Artificial Intelligence. KI 2004. Lecture Notes in Computer Science(), vol 3238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30221-6_25
Download citation
DOI: https://doi.org/10.1007/978-3-540-30221-6_25
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23166-0
Online ISBN: 978-3-540-30221-6
eBook Packages: Springer Book Archive