E. Amir and P. Maynard-Reid. Logic-based subsump- tion architecture. In Proc. Sixteenth International Joint Conference on Artificial Intelligence (IJCAI '99), pages 147-152, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....the resources needed by every client. The client manager communicates with the server using the libraries native to the server and with the clients using DeSiDeRaTa s communication libraries. The architecture proposed by us is a layered one. This is similar to a subsumption architecture [4] [1]. Figure 4 illustrates this architecture and the various layers. Level 0 has only two functions detect avoid obstacles and gather statistics. These statistics indicate the number of collisions that occurred and the number of exceptions sent back to level 1. If there are no obstacles, the player ....

Eyal Amir and Pedrito Maynard-Reid II. Logic based subsumption architecture. In Sixteenth International Joint Conference on Artificial Intelligence, pages 27--36, June 1999.

....manager will decide the resources needed by every client. The client manager communicates with the server using the libraries native to the server and with the clients using DeSiDeRaTa s communication libraries. Our architecture is a layered one. This is similar to a subsumption architecture [3] [1]. Figure 2 illustrates this architecture and the various layers. Level 0 has only two functions detect avoid obstacles and gather statistics. These statistics indicate the number of collisions that occurred and the number of exceptions sent back to level 1. If there are no obstacles, the player ....

Eyal Amir and Pedrito Maynard-Reid II. Logic based subsumption architecture. In Sixteenth International Joint Conference on Artificial Intelligence, 1999.

....the computer use these logical theories to reason and act in the world. This approach has recently been reinvigorated with the successes of several implementations (e.g. 14; 21] These use logical theories for semantics of robot control systems and for specifying highlevel control. Recently, [1] suggested that the subsumption architecture of [3] may be used to revisit this point of view. Each layer in a subsumption architecture can represent the behavior of the layer with a logical theory. The real time use of theorem provers or other more specialized reasoners with these theories is ....

....allowing the user to give advice to the robot and to correct behaviors that are erroneous. The architecture also allows incorporating layers that perform diagnosis and layers that remember experiences for other layers. Previous work on using subsumption with logical theories and theorem provers [1] has shown that the time taken by theorem provers to prove the needed assertions is low enough to promise real time control of AI agents, but has presented little empirical evidence of such control on a running system. Our work also improves over results presented using GOLOG (e.g. 14] and the ....

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E. Amir and P. Maynard-Reid. Logic-based subsump- tion architecture. In Proc. Sixteenth International Joint Conference on Artificial Intelligence (IJCAI '99), pages 147-152, 1999.

.... Architecture: Empirical Evaluation (Status Report) Eyal Amir and Pedrito Maynard Reid II Computer Science Department Stanford University Stanford, CA 94305 eyal.amir,pedmayn cs.stanford.edu Abstract We describe an implementation of the Logicbased Subsumption Architecture (LSA) [Amir and Maynard Reid, 1999] , an AI architecture inspired by Brooks subsumption architecture but based on logic. In this architecture, layers of control are axiomatized in First Order Logic (FOL) and independent theorem provers derive each layer s goals given its inputs. Default assumptions in the lower layers ....

.... to more complex tasks and goals and to agents that are not necessarily physical has already been raised and discussed in general terms by [Minsky, 1985] and [Stein, 1997] In this paper we describe an implementation of a LogicBased Subsumption Architecture (LSA) that was introduced in [Amir and Maynard Reid, 1999] . The LSA is modeled in the spirit of Brooks subsumption architecture but relies on a logical framework and has wider applicability and extendibility. It includes a set of First Order Logic (FOL) theories, each corresponding to a layer in the sense of Brooks architecture. Each layer is supplied ....

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Eyal Amir and Pedrito Maynard-Reid. Logic-based subsumption architecture. In Proc. Sixteenth International Joint Conference on Artificial Intelligence (IJCAI '99), 1999.

....and Section 5 describes entailment methods. Throughout this paper, we treat logic as an engineering tool and view it through the eyes of an engineer. This approach in uences our design decisions, as will be evident. All proofs are omitted for lack of space. They are available in the full version (Amir 1999). 2 An Object Oriented Approach to Logic The intuition behind our approach to Object Oriented logic is that a theory can be presented as a collection of theories communicating with each other via interface vocabularies. From this point of view, a theory is a graph of smaller theories (the graph ....

....the low level sensors actuators. Figure 8 describes the theory. A more Elevator Domain People Interaction Basic Small Movements High Level Robot Moves High level Action Domain Specific action Figure 8: A hierarchical decomposition. detailed description of a use of a similar theory is given in (Amir Maynard Reid 1999). 4.4 Multiple Agents When we want to reason about several agents, decomposing the domain according to the di erent agents and their interactions can yield signi cant gain in modeling e ort and reasoning e ciency. For example, if one has three robots that should each perform some di erent task, ....

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Amir, E., and Maynard-Reid, P. 1999. Logic-based subsumption architecture. In Proc. 6th Intl Joint Conf. on Articial Intelligence (IJCAI-99).

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