Robot location estimation in the situation calculus

DOI10.1016/J.JAL.2015.02.004MaRDI QIDQ901076zbMATH OpenOpenAlexFDO

Authors Vaishak Belle, Hector J. Levesque

Publication date 23 December 2015

Published in Journal of Applied Logic (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1402.7276

knowledge representation cognitive robotics reasoning about knowledge and uncertainty

Reasoning under uncertainty in the context of artificial intelligence (68T37) Knowledge representation (68T30) Artificial intelligence for robotics (68T40)

Abstract: Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and especially about how these dependencies change as a result of actions. Building on a general framework by Bacchus, Halpern and Levesque for reasoning about degrees of belief in the situation calculus, and a recent extension to it for continuous domains, in this paper we illustrate location estimation in the presence of a rich theory of actions using an example. We also show that while actions might affect prior distributions in nonstandard ways, suitable posterior beliefs are nonetheless entailed as a side-effect of the overall specification.

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