KR3^3: An Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture that combines the complementary strengths of declarative programming and probabilistic graphical models to enable robots to represent, reason with, and learn from, qualitative and quantitative descriptions of uncertainty and knowledge. An action language is used for the low-level (LL) and high-level (HL) system descriptions in the architecture, and the definition of recorded histories in the HL is expanded to allow prioritized defaults. For any given goal, tentative plans created in the HL using default knowledge and commonsense reasoning are implemented in the LL using probabilistic algorithms, with the corresponding observations used to update the HL history. Tight coupling between the two levels enables automatic selection of relevant variables and generation of suitable action policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in large and complex domains. The architecture is evaluated in simulation and on physical robots transporting objects in indoor domains; the benefit on robots is a reduction in task execution time of 39% compared with a purely probabilistic, but still hierarchical, approach.Comment: The paper appears in the Proceedings of the 15th International Workshop on Non-Monotonic Reasoning (NMR 2014

Epistemic Foundation of Stable Model Semantics

Stable model semantics has become a very popular approach for the management of negation in logic programming. This approach relies mainly on the closed world assumption to complete the available knowledge and its formulation has its basis in the so-called Gelfond-Lifschitz transformation. The primary goal of this work is to present an alternative and epistemic-based characterization of stable model semantics, to the Gelfond-Lifschitz transformation. In particular, we show that stable model semantics can be defined entirely as an extension of the Kripke-Kleene semantics. Indeed, we show that the closed world assumption can be seen as an additional source of `falsehood' to be added cumulatively to the Kripke-Kleene semantics. Our approach is purely algebraic and can abstract from the particular formalism of choice as it is based on monotone operators (under the knowledge order) over bilattices only.Comment: 41 pages. To appear in Theory and Practice of Logic Programming (TPLP

Modeling of Phenomena and Dynamic Logic of Phenomena

Modeling of complex phenomena such as the mind presents tremendous computational complexity challenges. Modeling field theory (MFT) addresses these challenges in a non-traditional way. The main idea behind MFT is to match levels of uncertainty of the model (also, problem or theory) with levels of uncertainty of the evaluation criterion used to identify that model. When a model becomes more certain, then the evaluation criterion is adjusted dynamically to match that change to the model. This process is called the Dynamic Logic of Phenomena (DLP) for model construction and it mimics processes of the mind and natural evolution. This paper provides a formal description of DLP by specifying its syntax, semantics, and reasoning system. We also outline links between DLP and other logical approaches. Computational complexity issues that motivate this work are presented using an example of polynomial models

REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture for robots that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with logic-based and probabilistic descriptions of uncertainty and domain knowledge. An action language is extended to support non-boolean fluents and non-deterministic causal laws. This action language is used to describe tightly-coupled transition diagrams at two levels of granularity, with a fine-resolution transition diagram defined as a refinement of a coarse-resolution transition diagram of the domain. The coarse-resolution system description, and a history that includes (prioritized) defaults, are translated into an Answer Set Prolog (ASP) program. For any given goal, inference in the ASP program provides a plan of abstract actions. To implement each such abstract action, the robot automatically zooms to the part of the fine-resolution transition diagram relevant to this action. A probabilistic representation of the uncertainty in sensing and actuation is then included in this zoomed fine-resolution system description, and used to construct a partially observable Markov decision process (POMDP). The policy obtained by solving the POMDP is invoked repeatedly to implement the abstract action as a sequence of concrete actions, with the corresponding observations being recorded in the coarse-resolution history and used for subsequent reasoning. The architecture is evaluated in simulation and on a mobile robot moving objects in an indoor domain, to show that it supports reasoning with violation of defaults, noisy observations and unreliable actions, in complex domains.Comment: 72 pages, 14 figure