Bounded Situation Calculus Action Theories

In this paper, we investigate bounded action theories in the situation calculus. A bounded action theory is one which entails that, in every situation, the number of object tuples in the extension of fluents is bounded by a given constant, although such extensions are in general different across the infinitely many situations. We argue that such theories are common in applications, either because facts do not persist indefinitely or because the agent eventually forgets some facts, as new ones are learnt. We discuss various classes of bounded action theories. Then we show that verification of a powerful first-order variant of the mu-calculus is decidable for such theories. Notably, this variant supports a controlled form of quantification across situations. We also show that through verification, we can actually check whether an arbitrary action theory maintains boundedness.Comment: 51 page

On First-Order μ-Calculus over Situation Calculus Action Theories

In this paper we study verification of situation calculus action theories against first-order mu-calculus with quantification across situations. Specifically, we consider mu-La and mu-Lp, the two variants of mu-calculus introduced in the literature for verification of data-aware processes. The former requires that quantification ranges over objects in the current active domain, while the latter additionally requires that objects assigned to variables persist across situations. Each of these two logics has a distinct corresponding notion of bisimulation. In spite of the differences we show that the two notions of bisimulation collapse for dynamic systems that are generic, which include all those systems specified through a situation calculus action theory. Then, by exploiting this result, we show that for bounded situation calculus action theories, mu-La and mu-Lp have exactly the same expressive power. Finally, we prove decidability of verification of mu-La properties over bounded action theories, using finite faithful abstractions. Differently from the mu-Lp case, these abstractions must depend on the number of quantified variables in the mu-La formula

Plan Synthesis for Knowledge and Action Bases

We study plan synthesis for a variant of Knowledge and Action Bases (KABs), a rich, dynamic framework, where states are description logic (DL) knowledge bases (KBs) whose extensional part is manipulated by actions that possibly introduce new objects from an infinite domain. We show that plan existence over KABs is undecidable even under severe restrictions. We then focus on state-bounded KABs, a class for which plan existence is decidable, and provide sound and complete plan synthesis algorithms, which combine techniques based on standard planning, DL query answering, and finite-state abstraction. All results hold for any DL with decidable query answering. We finally show that for lightweight DLs, plan synthesis can be compiled into standard ADL planning

On the Decidability of Verifying LTL Properties of Golog Programs: Extended Version

Golog is a high-level action programming language for controlling autonomous agents such as mobile robots. It is defined on top of a logic-based action theory expressed in the Situation Calculus. Before a program is deployed onto an actual robot and executed in the physical world, it is desirable, if not crucial, to verify that it meets certain requirements (typically expressed through temporal formulas) and thus indeed exhibits the desired behaviour. However, due to the high (first-order) expressiveness of the language, the corresponding verification problem is in general undecidable. In this paper, we extend earlier results to identify a large, non-trivial fragment of the formalism where verification is decidable. In particular, we consider properties expressed in a first-order variant of the branching-time temporal logic CTL*. Decidability is obtained by (1) resorting to the decidable first-order fragment C² as underlying base logic, (2) using a fragment of Golog with ground actions only, and (3) requiring the action theory to only admit local effects.In this extended version we extend the decidability result for the verification problem to the temporal logic CTL* over C2-axioms

Synthesizing and executing plans in Knowledge and Action Bases

We study plan synthesis for a variant of Knowledge and Action Bases (KABs). KABs have been recently introduced as a rich, dynamic framework where states are full-fledged description logic (DL) knowledge bases (KBs) whose extensional part is manipulated by actions that can introduce new objects from an infinite domain. We show that, in general, plan existence over KABs is undecidable even under severe restrictions. We then focus on the class of state-bounded KABs, for which plan existence is decidable, and we provide sound and complete plan synthesis algorithms, through a novel combination of techniques based on standard planning, DL query answering, and finite-state abstractions. All results hold for any DL with decidable query answering. We finally show that for lightweight DLs, plan synthesis can be compiled into standard ADL planning. © 2016, CEUR-WS. All rights reserved

Progression and Verification of Situation Calculus Agents with Bounded Beliefs

We investigate agents that have incomplete information and make decisions based on their beliefs expressed as situation calculus bounded action theories. Such theories have an infinite object domain, but the number of objects that belong to fluents at each time point is bounded by a given constant. Recently, it has been shown that verifying temporal properties over such theories is decidable. We take a first-person view and use the theory to capture what the agent believes about the domain of interest and the actions affecting it. In this paper, we study verification of temporal properties over online executions. These are executions resulting from agents performing only actions that are feasible according to their beliefs. To do so, we first examine progression, which captures belief state update resulting from actions in the situation calculus. We show that, for bounded action theories, progression, and hence belief states, can always be represented as a bounded first-order logic theory. Then, based on this result, we prove decidability of temporal verification over online executions for bounded action theories. © 2015 The Author(s

Action, Time and Space in Description Logics

Description Logics (DLs) are a family of logic-based knowledge representation (KR) formalisms designed to represent and reason about static conceptual knowledge in a semantically well-understood way. On the other hand, standard action formalisms are KR formalisms based on classical logic designed to model and reason about dynamic systems. The largest part of the present work is dedicated to integrating DLs with action formalisms, with the main goal of obtaining decidable action formalisms with an expressiveness significantly beyond propositional. To this end, we offer DL-tailored solutions to the frame and ramification problem. One of the main technical results is that standard reasoning problems about actions (executability and projection), as well as the plan existence problem are decidable if one restricts the logic for describing action pre- and post-conditions and the state of the world to decidable Description Logics. A smaller part of the work is related to decidable extensions of Description Logics with concrete datatypes, most importantly with those allowing to refer to the notions of space and time

Decidable Verification of Golog Programs over Non-Local Effect Actions: Extended Version

The Golog action programming language is a powerful means to express high-level behaviours in terms of programs over actions defined in a Situation Calculus theory. In particular for physical systems, verifying that the program satisfies certain desired temporal properties is often crucial, but undecidable in general, the latter being due to the language’s high expressiveness in terms of first-order quantification and program constructs. So far, approaches to achieve decidability involved restrictions where action effects either had to be contextfree (i.e. not depend on the current state), local (i.e. only affect objects mentioned in the action’s parameters), or at least bounded (i.e. only affect a finite number of objects). In this paper, we present a new, more general class of action theories (called acyclic) that allows for context-sensitive, non-local, unbounded effects, i.e. actions that may affect an unbounded number of possibly unnamed objects in a state-dependent fashion. We contribute to the further exploration of the boundary between decidability and undecidability for Golog, showing that for acyclic theories in the two-variable fragment of first-order logic, verification of CTL properties of programs over ground actions is decidable

A Logic Programming Approach to Knowledge-State Planning: Semantics and Complexity

We propose a new declarative planning language, called K, which is based on principles and methods of logic programming. In this language, transitions between states of knowledge can be described, rather than transitions between completely described states of the world, which makes the language well-suited for planning under incomplete knowledge. Furthermore, it enables the use of default principles in the planning process by supporting negation as failure. Nonetheless, K also supports the representation of transitions between states of the world (i.e., states of complete knowledge) as a special case, which shows that the language is very flexible. As we demonstrate on particular examples, the use of knowledge states may allow for a natural and compact problem representation. We then provide a thorough analysis of the computational complexity of K, and consider different planning problems, including standard planning and secure planning (also known as conformant planning) problems. We show that these problems have different complexities under various restrictions, ranging from NP to NEXPTIME in the propositional case. Our results form the theoretical basis for the DLV^K system, which implements the language K on top of the DLV logic programming system.Comment: 48 pages, appeared as a Technical Report at KBS of the Vienna University of Technology, see http://www.kr.tuwien.ac.at/research/reports

Verification of Knowledge-Based Programs over Description Logic Actions

A knowledge-based program defines the behavior of an agent by combining primitive actions, programming constructs and test conditions that make explicit reference to the agent’s knowledge. In this paper we consider a setting where an agent is equipped with a Description Logic (DL) knowledge base providing general domain knowledge and an incomplete description of the initial situation. We introduce a corresponding new DL-based action language that allows for representing both physical and sensing actions, and that we then use to build knowledge-based programs with test conditions expressed in the epistemic DL. After proving undecidability for the general case, we then discuss a restricted fragment where verification becomes decidable. The provided proof is constructive and comes with an upper bound on the procedure’s complexity