M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....seen as a form of spatio temporal change and is interpreted thus in this paper. bols to real sensor data [8] The anchoring process establishes relation between the symbolic representation and the real world. This bridges the physical world and the states of a mobile agent. Logic based formalisms [34, 35, 36] have been used for tasks such as sensor data assimilation, map building and planning. Following [34] we take a knowledge representation view of the connection between sensor information and states of a robot. The main aim of this paper is to present an approach to the problem of acquiring a ....

....The anchoring process establishes relation between the symbolic representation and the real world. This bridges the physical world and the states of a mobile agent. Logic based formalisms [34, 35, 36] have been used for tasks such as sensor data assimilation, map building and planning. Following [34], we take a knowledge representation view of the connection between sensor information and states of a robot. The main aim of this paper is to present an approach to the problem of acquiring a qualitative world description from partial qualitative spatio temporal (henceforth s t) information such ....

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M Shanahan, `A logical account of the common sense informatic situation for a mobile robot', Electronic Trans. on AI, 2, 69--104, (1998).

.... specifies the influences of actions on properties.The other di#culty with planning identified above, the possibility of unexpected events, can be treated either in the axiomatic system, or equivalently in the The version used in this paper was developed by Murray Shanahan in a series of papers [7], 6] 8] and [5] Shanahan s discussion of the frame problem and his proposed solution can also be found in the book [9] logic underlying the system. The solution of this di#culty is essentially to restrict the class of models of the axiomatic system to those models which are in a sense ....

M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

....The literature from the mid eighties to the mid nineties often talks about a gap between theoretical rigor and practical applicability. The purpose of the present work is to present and discuss a new logical account to bridge the gap between formal knowledge representation and practical robotics [39]. The first issue that a formal theory about an autonomous agent (immersed in the real world) has to cope is the representation of Common Sense Knowledge. This knowledge involves the basic facts about the ordinary objects, their properties and spatial relations in the world, facts about events ....

....an important field in A.I. it was only during the last five years that fundamental studies on spatial representation and reasoning have appeared in a significant number in the A.I. literature . In the present work (section 5. 2) we are going to describe an axiomatic theory of an absolute space [39][38] According to [47] an absolute space is the one that exists independently of objects located in it; and, in order to be formalised, it needs to be equipped with a location (or place) function relating each object to its location in space. In order to logically formalise space, not only do ....

[Article contains additional citation context not shown here]

M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. Technical report, Department of Computer Science, Queen Mary and Westfield College, 1996.

....The literature from the mid eighties to the mid nineties often talks about a gap between theoretical rigor and practical applicability. The purpose of the present work is to present and discuss a new logical account to bridge the gap between formal knowledge representation and practical robotics [11]. The first issue that a formal theory about an autonomous agent (immersed in the real world) has to cope is the representation of Common Sense Knowledge. This knowledge involves the basic facts about the ordinary objects, their properties and spatial relations in the world, facts about events ....

....using Circumscription. A similar problem arises when formalising logically space occupancy as, briefly, discussed below. 1. 3 Common Sense in a Mobile Robot The concepts discussed above, taken together, characterize the Logical Account of the Common Sense Informatic Situation in a Mobile robot [11]. More specifically, the axioms of Event Calculus (with Circumscription) and the axioms about space are components of a theory denoted by Sigma B . On the other hand, the relations between the robot and the objects in its environment are described in a theory called Sigma E . The central task ....

[Article contains additional citation context not shown here]

M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. Technical report, Department of Computer Science, Queen Mary and Westfield College, 1996.

....specification aspects. This allows that more complex problems can be managed, including Cognitive Robotics aimed at the construction of robots whose architecture is based on the idea of representing the world by sentences of formal logic and reasoning about it by manipulating those sentences [12, 1]. Most of these formalizations define an entailment relationship (j= between the specifications (of effects of actions and relation among objects of the world) This ability allows to make plans that will take us to particular kind of worlds and explain observations about the 1 Computer Science ....

M. Shanahan, `A logical account of the common sense informatic situation for a mobile robot', Linkoping Electronic Articles in Computer Science, (1999). to appear.

....theory of physical objects and preliminary work has been reported in [Cohn and Hazarika, 2000] Use of a spatio temporal theory of physical objects for (a full blown account of) qualitative navigation is part of ongoing research and beyond the scope of the present paper. 2 As far we know [Shanahan, 1999] is the only work that uses a logic based framework using abduction for sensor data assimilation. However it falls short of using a purely qualitative approach to spatial representation (such as the framework described by [Randell et al. 1992] 3 A map emphasizes the illusion of seeing a ....

M Shanahan. A logical account of the common sense informatic situation for a mobile robot. Electronic Transactions on Artificial Intelligence, 1999.

....progressing from simple and or restricted theories and iexample centered approachesj, to general and provenly correct theories that incrementally consider various specication aspects such as: concurrent actions, etc. This allows to consider increasingly more complex tasks, e.g. Cognitive Robotics [10]. Some of these formalisms have a Logic Programming (LP) counterpart what makes it feasible to study the integration with Inductive Logic Programming (ILP) This work deals with a logical approach to modeling dynamical systems based on a dialect of rst order logic called the Situation Calculus ....

M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. Linkoping Electronic Articles in Computer Science, 1999. to appear.

....a stream, the abductive task is to hypothesise the existence, shapes, and locations of objects which, given the output the robot has supplied to its motors, would explain that sensor data (Charniak McDermott 1985, page 455) This is, in essence, the map building task for a mobile robot. (Shanahan 1998, p. 2) This is exactly what happens in the framework of this paper. We find the explanations for the observations, as well as the explanations of the final utility. We happen to have probabilities on the assumables, but the whole framework can be considered in terms of abduction. On our case, it ....

Shanahan, M. (1998). A logical account of the common sense informatic situation for a mobile robot, Electronic Transactions on Artificial Intelligence Received.

.... principles for mobile robotics can be found in [21,23,25] and a theoretical foundation of motor programming in terms of neural representations is discussed in [7] A more formal, information theoretic approach to robot environment interaction can be found in the field of cognitive robotics [24]. It seems that a future science of mobile robotics may be founded on a general theory which incorporates elements of each of these approaches the fundamental task being to develop valid generalisations about robot environment interaction from which specific details of the behaviour of ....

....robot environment interaction from which specific details of the behaviour of particular systems can be predicted. Finding the right levels of abstraction and generalisation, and a sound theoretical vocabulary for the discussion, are the central issues here. Formalism, perhaps along the lines of [24], is developing in this regard. Secondly, following Popper s notation that significant advances in knowledge are achieved either through the falsification of weak hypotheses, or the confirmation of bold ones, we believe that mobile robotics will advance as a science by careful analysis of our ....

M. Shanahan, A logical account of the commonsense informatic situation for a mobile robot, Proceedings of Commonsense 96, 1996.

....and logical theories. This extended version is proposed as a general architecture for building intelligent agents. Notice that we did not include a speci c action theory above L0, but only showed how can such a theory in uences L0. We compare our work to those of Shanahan ( Shanahan 1996) (Shanahan 1998)) Baral and Tran ( Baral Tran 1998) and Reiter et al. ( Reiter 1998) Lesprance et al. 1996) Reiter 1996) Shanahan 1998) describes a map building process using abduction. His abduction is specialized for the speci c scenario of spatial occupancy and noise that one may wish to include. He ....

....we did not include a speci c action theory above L0, but only showed how can such a theory in uences L0. We compare our work to those of Shanahan ( Shanahan 1996) Shanahan 1998) Baral and Tran ( Baral Tran 1998) and Reiter et al. ( Reiter 1998) Lesprance et al. 1996) Reiter 1996) (Shanahan 1998) describes a map building process using abduction. His abduction is specialized for the speci c scenario of spatial occupancy and noise that one may wish to include. He then implements the theory in an algorithm that abides by the logical theory, and to his account of abduction. In contrast, our ....

[Article contains additional citation context not shown here]

Shanahan, M. 1998. A logical account of the common sense informatic situation for a mobile robot. Electronic Trans. on Articial Intelligence. Under review.

....it is easier to integrate actions. Halpern and Levesque (in [1] proposed a method based on the situation calculus to describe the e ect of observations. We make this approach more explicit. Shanahan developed a rst order logic for mobile robots, but didn t pay much attention to uncertainty ([12]) In fact our approach tries to combine the advantages of these ideas. Another advantage is that modal logic easily allows for extensions to deal with properties like goals, opportunities and beliefs. We use probabilities to deal with uncertainty and we use Bayes theorem ( 2] to model the ....

.... A possible solution to this problem is described by Konolige (in [9] Another aspect that we did not pay attention to, is the description of a move action and the di erences between a one and a two dimensional world, some of this, however can be found in [4] 5 Discussion Shanahan s method (see [12]) is also a logical approach. Comparing to ours, we see a few advantages of his method, the major being that continuous change is incorporated and that a working implementation exists. However, he works with sensors that are not noisy and no suggestions are made how to handle the uncertainty ....

M.P. Shanahan. A Logical Account of the Common Sense Informatic Situation for a Mobile Robot. 1996. http://www.dcs.qmw.ac.uk/ ~mps/pubs.html.

....to work under certain circumstances. However, many reasearchers are convinced that there must be a better way to control mobile robots. By first analyzing the complete problem using a logic, they hope to understand it completely and then be able to develop a better method. In 1996 Murray Shanahan [Sha96a] has proposed a logic based framework in which models of the world are constructed which cope with both incompleteness and uncertainty. The following section describes globally the method he used and gives somewhat more attention to the way he handles noise. 3.1 A logic based framework Abduction ....

....And the ways several other authors introduced uncertainty using a modal logic as described in section 3.3 are combined and extended [Hal97] vdH92] to create an approach that suits our needs. And, last but not least, we learned a lot from another attempt to describe mobile robots with a logic [Sha96a]. We introduce the concepts of our language step by step and each step is accompanied by several examples. In the next section this language is introduced. Then, in section 4.3, we include the constructs of dynamic logic in the language to be able to reason about series of actions. Thereafter, in ....

M.P. Shanahan. A Logical Account of the Common Sense Informatic Situation for a Mobile Robot. 1996. http://www.dcs.qmw.ac.uk/~mps/pubs.html. This unpublished work is a combination of [Sha96b] and [Sha96c].

....and logical theories. This extended version is proposed as a general architecture for building intelligent agents. Notice that we did not include a specific action theory above L0, but only showed how can such a theory influences L0. We compare our work to those of Shanahan ( Shanahan 1996) (Shanahan 1998)) Baral and Tran ( Baral Tran 1998) and Reiter et al. ( Reiter 1998) Lesprance et al. 1996) Reiter 1996) Shanahan 1998) describes a map building process using abduction. His abduction is specialized for the specific scenario of spatial occupancy and noise that one may wish to include. ....

....we did not include a specific action theory above L0, but only showed how can such a theory influences L0. We compare our work to those of Shanahan ( Shanahan 1996) Shanahan 1998) Baral and Tran ( Baral Tran 1998) and Reiter et al. ( Reiter 1998) Lesprance et al. 1996) Reiter 1996) (Shanahan 1998) describes a map building process using abduction. His abduction is specialized for the specific scenario of spatial occupancy and noise that one may wish to include. He then implements the theory in an algorithm that abides by the logical theory, and to his account of abduction. In contrast, our ....

[Article contains additional citation context not shown here]

Shanahan, M. 1998. A logical account of the common sense informatic situation for a mobile robot. Electronic Transactions on Artificial Intelligence. Under Review.

....that a circumscription of a theory Sigma w.r.t. predicates and is given by CIRC [ Psi; CIRC[ Xi; where Sigma = Psi Xi; then, clearly, a formula composed by both and cannot be allowed in Sigma because its position in the separation would not be defined. According to Shanahan [45] the justification for separation is that, by splitting the Circumscription into parts, we get a more manageable theory, one whose consequences are easier to work out. In fact, the role of Circumscription here [in the Event Calculus] is mainly to complete certain predicates, specially Initiates, ....

....presented through the text, we conclude that the framework presented is intractable. More specifically, we concluded that, the complexity of the Logical Account of the Common Sense Informatic Situation for a Mobile Robot is at least Pi P 2 complete. Shanahan comments this issue as follows [45]: My feeling is that complexity results should be used only as a guideline, and a disappointing complexity result rarely justifies the wholesale rejection of an approach. This is because the complexity results are worst case, while in actual usage, a technique is often confined to a narrow, ....

Murray Shanahan. Discussion of the paper: "A Logical Account of the Common Sense Informatic Situation for a Mobile Robot". ETAI debates, August 1998. http://www.ida.liu.se/ext/etai/rac/.

....The literature from the mid eighties to the mid nineties often talks about a gap between theoretical rigor and practical applicability. The purpose of the present work is to present and discuss a new logical account to bridge the gap between formal knowledge representation and practical robotics [39]. The first issue that a formal theory about an autonomous agent (immersed in the real world) has to cope is the representation of Common Sense Knowledge. This knowledge involves the basic facts about the ordinary objects, their properties and spatial relations in the world, facts about events ....

....an important field in A.I. it was only during the last five years that fundamental studies on spatial representation and reasoning have appeared in a significant number in the A.I. literature 7 . In the present work (section 5. 2) we are going to describe an axiomatic theory of an absolute space [39][38] According to [47] an absolute space is the one that exists independently of objects located in it; and, in order to be formalised, it needs to be equipped with a location (or place) function relating each object to its location in space. In order to logically formalise space, not only do we ....

[Article contains additional citation context not shown here]

M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. Technical report, Department of Computer Science, Queen Mary and Westfield College, 1996.

.... in [KaMi 97] and [KaMi 98] and in an argumentation framework in [KaMi 99] The Event Calculus has been applied to planning using abduction in [Eshg 88] Chle 96] JuFi 96] Shan 97b] Shan 98] and [Jung 98] and in particular to cognitive robotics in [Shan 96a] Shan 96b] Shan 98] and [Shan 99b] Abduction in the context of the Event Calculus is also discussed in [DeMi 92] VaDe 94a] and [VaDe 94b] Other applications of the Event Calculus include database updates in [Kowa 92] and [VaDe 94b] accident report processing in [LeQu 98] and legal reasoning in [Kowa 95] Various ....

M. P. Shanahan, A Logical Account of the Common Sense Informatic Situation for a Mobile Robot, Electronic Transactions on Artificial Intelligence, 1999.

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M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

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M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

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M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

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M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

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M. Shanahan. A logical account of the common sense informatic situation for a mobile robot. London, 1996.

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