147,532 research outputs found
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
Nonmonotonic Probabilistic Logics between Model-Theoretic Probabilistic Logic and Probabilistic Logic under Coherence
Recently, it has been shown that probabilistic entailment under coherence is
weaker than model-theoretic probabilistic entailment. Moreover, probabilistic
entailment under coherence is a generalization of default entailment in System
P. In this paper, we continue this line of research by presenting probabilistic
generalizations of more sophisticated notions of classical default entailment
that lie between model-theoretic probabilistic entailment and probabilistic
entailment under coherence. That is, the new formalisms properly generalize
their counterparts in classical default reasoning, they are weaker than
model-theoretic probabilistic entailment, and they are stronger than
probabilistic entailment under coherence. The new formalisms are useful
especially for handling probabilistic inconsistencies related to conditioning
on zero events. They can also be applied for probabilistic belief revision.
More generally, in the same spirit as a similar previous paper, this paper
sheds light on exciting new formalisms for probabilistic reasoning beyond the
well-known standard ones.Comment: 10 pages; in Proceedings of the 9th International Workshop on
Non-Monotonic Reasoning (NMR-2002), Special Session on Uncertainty Frameworks
in Nonmonotonic Reasoning, pages 265-274, Toulouse, France, April 200
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