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Author Brafman, Ronen I. ♦ Latombe, Jean-Claude ♦ Moses, Yoram ♦ Shoham, Yoav
Source ACM Digital Library
Content type Text
Publisher Association for Computing Machinery (ACM)
File Format PDF
Copyright Year ©1997
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Analysis ♦ Knowledge representation ♦ Logics of knowledge and time ♦ Motion planning under uncertainty
Abstract Inspired by the success of the distributed computing community in apply logics of knowledge and time to reasoning about distributed protocols, we aim for a similarly powerful and high-level abstraction when reasoning about control problems involving uncertainty. This paper concentrates on robot motion planning with uncertainty in both control and sensing, a problem that has already been well studied within the robotics community. First, a new and natural problem in this domain is defined: does there exists a sound and complete termination condition for a motion, given initial and goal locations? If yes, how to construct it? Then we define a high-level language, a logic of time and knowledge, which we use to reason about termination conditions and to state general conditions for the existence of sound and complete termination conditions in a broad domain. Finally, we show that sound termination conditions that are optimal in a precise sense provide a natural example of knowledge-based programs with multiple implementations.
ISSN 00045411
Age Range 18 to 22 years ♦ above 22 year
Educational Use Research
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1997-09-01
Publisher Place New York
e-ISSN 1557735X
Journal Journal of the ACM (JACM)
Volume Number 44
Issue Number 5
Page Count 36
Starting Page 633
Ending Page 668


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Source: ACM Digital Library