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Author: Chitta Baral and Son Cao Tran
Article title: Relating Theories of Actions and Reactive Control
Publ. type: Article
Volume: 3
Article No: 9
Language: English
Abstract [en]: In this paper we give a formal characterization of reactive control using action theories. In the process we formalize the notion of a reactive control program being correct with respect to a given goal, a set of initial states, and action theories about the agent/robot and about the exogenous actions. We give sufficiency conditions that guarantee correctness and use it to give an automatic method for constructing provenly correct control modules. We then extend our approach to action theories and control modules that have specialized sensing actions and that encode conditional plans. Finally we briefly relate our theory with the implementation of our mobile robot Diablo, which successfully competed in AAAI 96 and 97 mobile robot contests.
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Publisher: Linköping University Electronic Press
Year: 1998
Available: Original 1998-07-29, 1st Revised 1999-02-10, 2nd Revised 1999-07-15
No. of pages: Original 51, 1st Revised 74 and 2nd Revised 59
Series: Linköping Electronic Articles in Computer and Information Science
ISSN: 1401-9841
REFERENCE TO THIS PAGE:
Baral, Chitta and Tran, Son Cao (1998). Relating Theories of Actions and Reactive Control in Linköping Electronic Articles in Computer and Information Science, Vol. 3. http://www.ep.liu.se/ea/cis/1998/009/. ()