Logic and Topology for Knowledge, Knowability, and Belief - Extended Abstract

In recent work, Stalnaker proposes a logical framework in which belief is realized as a weakened form of knowledge. Building on Stalnaker's core insights, and using frameworks developed by Bjorndahl and Baltag et al., we employ topological tools to refine and, we argue, improve on this analysis. The structure of topological subset spaces allows for a natural distinction between what is known and (roughly speaking) what is knowable; we argue that the foundational axioms of Stalnaker's system rely intuitively on both of these notions. More precisely, we argue that the plausibility of the principles Stalnaker proposes relating knowledge and belief relies on a subtle equivocation between an "evidence-in-hand" conception of knowledge and a weaker "evidence-out-there" notion of what could come to be known. Our analysis leads to a trimodal logic of knowledge, knowability, and belief interpreted in topological subset spaces in which belief is definable in terms of knowledge and knowability. We provide a sound and complete axiomatization for this logic as well as its uni-modal belief fragment. We then consider weaker logics that preserve suitable translations of Stalnaker's postulates, yet do not allow for any reduction of belief. We propose novel topological semantics for these irreducible notions of belief, generalizing our previous semantics, and provide sound and complete axiomatizations for the corresponding logics.Comment: In Proceedings TARK 2017, arXiv:1707.08250. The full version of this paper, including the longer proofs, is at arXiv:1612.0205

Robust Decentralized Abstractions for Multiple Mobile Manipulators

This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of interest in the workspace, while guaranteeing at the same time inter-agent collision avoidance and connectivity maintenance for a subset of initially connected agents. In that way, the motion of the coupled multi-agent system is abstracted into multiple finite transition systems for each agent, which are then suitable for the application of temporal logic-based high level plans. The proposed methodology is decentralized, since each agent uses local information based on limited sensing capabilities. Finally, simulation studies verify the validity of the approach.Comment: Accepted for publication in the IEEE Conference on Decision and Control, Melbourne, Australia, 201

Hybrid automata dicretising agents for formal modelling of robots

Some of the fundamental capabilities required by autonomous vehicles and systems for their intelligent decision making are: modelling of the environment and forming data abstractions for symbolic, logic based reasoning. The paper formulates a discrete agent framework that abstracts and controls a hybrid system that is a composition of hybrid automata modelled continuous individual processes. Theoretical foundations are laid down for a class of general model composition agents (MCAs) with an advanced subclass of rational physical agents (RPAs). We define MCAs as the most basic structures for the description of complex autonomous robotic systems. The RPA’s have logic based decision making that is obtained by an extension of the hybrid systems concepts using a set of abstractions. The theory presented helps the creation of robots with reliable performance and safe operation in their environment. The paper emphasizes the abstraction aspects of the overall hybrid system that emerges from parallel composition of sets of RPAs and MCAs