46,480 research outputs found
Probabilistic Default Reasoning with Conditional Constraints
We propose a combination of probabilistic reasoning from conditional
constraints with approaches to default reasoning from conditional knowledge
bases. In detail, we generalize the notions of Pearl's entailment in system Z,
Lehmann's lexicographic entailment, and Geffner's conditional entailment to
conditional constraints. We give some examples that show that the new notions
of z-, lexicographic, and conditional entailment have similar properties like
their classical counterparts. Moreover, we show that the new notions of z-,
lexicographic, and conditional entailment are proper generalizations of both
their classical counterparts and the classical notion of logical entailment for
conditional constraints.Comment: 8 pages; to appear in Proceedings of the Eighth International
Workshop on Nonmonotonic Reasoning, Special Session on Uncertainty Frameworks
in Nonmonotonic Reasoning, Breckenridge, Colorado, USA, 9-11 April 200
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
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