probabilistic action language - extension of GOLOG

Related languages
Golog => pGOLOG   Extension of

  • Henrik Grosskreutz "Probabilistic Projection and Belief Update in the pGOLOG Framework" view details Abstract: High-level controllers that operate robots in dynamic, uncertain domains are concerned with two reasoning tasks dealing with the e ects of noisy sensors and e ectors. They must be able to a) project the outcome of a candidate plan and b) update their belief during execution. In this paper, we show how both tasks can be achieved within the pGOLOG framework [9]. Our approach relies on the idea to characterize the robot's sensors and e ectors as programs written in the probabilistic action language pGOLOG. We are then able to reason about the interaction of the high-level controller and the sensors and e ectors through simulation of the concurrent execution of the high-level plan