Using constrained intuitionistic linear logic for hybrid robotic planning problems

Download

index.pdf

Date

2007-04-14

Author

Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

199
views

0
downloads

Synthesis of robot behaviors towards nontrivial goals often requires reasoning about both discrete and continuous aspects of the underlying domain. Existing approaches in building automated tools for such synthesis problems attempt to augment methods from either discrete planning or continuous control with hybrid elements, but largely fail to ensure a uniform treatment of both aspects of the domain. In this paper, we present a new formalism, Constrained Intuitionistic Linear Logic (CILL), merging continuous constraint solvers with linear logic to yield a single language in which hybrid properties of robotic behaviors can be expressed and reasoned with. Following a gentle introduction to linear logic, we describe the two new connectives of CILL, introduced to interface the constraint domain with the logical fragment of the language. We then illustrate the application of CILL for robotic planning problems within the Balanced Blocks World, a "physically realistic" extension of the Blocks World domain. Even though some of the formal proofs for the semantic foundations of the language as well as an efficient implementation of a theorem prover are yet to be completed, CILL promises to be a powerful formalism in reasoning within hybrid domains.

Subject Keywords

Robotics and automation, Scalability, Automatic control, Logic programming, Merging, Intelligent robots, Artificial intelligence, Control theory, Mathematics, Constraint theory

URI

https://hdl.handle.net/11511/40577

DOI

https://doi.org/10.1109/robot.2007.364046

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

AN ALGEBRAIC APPROACH TO SUPERVISORY CONTROL INAN, K (Springer Science and Business Media LLC, 1992-01-01) Supervisory control problems are formulated in terms of a process model where the mechanism of control is expressed in terms of an algebraic operator with the plant and supervision processes as its arguments. The solution subspaces for supervisory processes restrict the observation and the control capability of supervision. The main result corresponds to decentralized marked supervision under partial observations, and specific cases are derived from this result in a unified, algebraic way. The result and it...
A shared-medium communication architecture for distributed discrete event systems Schmidt, Klaus Verner; Zaddach, J. (2007-06-29) Recently, several efficient supervisor synthesis approaches for distributed discrete event systems (DES) have been established. In this paper, the implementation of such supervisors on interacting distributed programmable logic controllers (PLCs) on a network is considered for the hierarchical and decentralized control approach elaborated in our previous work. A communication model that captures the controller behavior relevant for communication is developed, and a network architecture together with a sched...
A complete axiomatization for fuzzy functional and multivalued dependencies in fuzzy database relations Sozat, MI; Yazıcı, Adnan (Elsevier BV, 2001-01-15) This paper first introduces the formal definitions of fuzzy functional and multivalued dependencies which are given on the basis of the conformance values presented here. Second, the inference rules are listed after both fuzzy functional and multivalued dependencies are shown to be consistent, that is, they reduce to those of the classic functional and multivalued dependencies when crisp attributes are involved. Finally, the inference rules presented here are shown to be sound and complete for the family of...
Maximally Permissive Hierarchical Control of Decentralized Discrete Event Systems SCHMİDT, KLAUS WERNER; Schmidt, Klaus Verner (2011-04-01) The subject of this paper is the synthesis of natural projections that serve as nonblocking and maximally permissive abstractions for the hierarchical and decentralized control of large-scale discrete event systems. To this end, existing concepts for nonblocking abstractions such as natural observers and marked string accepting (msa)-observers are extended by local control consistency (LCC) as a novel sufficient condition for maximal permissiveness. Furthermore, it is shown that, similar to the natural obse...
A SPINOR MODEL FOR QUANTUM COSMOLOGY DERELI, T; ONDER, M; TUCKER, RW (1994-03-31) The question of the interpretation of Wheeler-DeWitt solutions in the context of cosmological models is addressed by implementing the Hamiltonian constraint as a spinor wave equation in minisuperspace. We offer a relative probability interpretation based on a non-closed vector current in this space and a prescription for a parametrisation of classical solutions in terms of classical time. Such a prescription can accommodate classically degenerate metrics describing manifolds with signature change. The relat...

Citation Formats

U. Saranlı, “Using constrained intuitionistic linear logic for hybrid robotic planning problems,” 2007, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40577.