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

Quantum-mechanical machinery for rational decision-making in classical guessing game

In quantum game theory, one of the most intriguing and important questions is, "Is it possible to get quantum advantages without any modification of the classical game?" The answer to this question so far has largely been negative. So far, it has usually been thought that a change of the classical game setting appears to be unavoidable for getting the quantum advantages. However, we give an affirmative answer here, focusing on the decision-making process (we call 'reasoning') to generate the best strategy, which may occur internally, e.g., in the player's brain. To show this, we consider a classical guessing game. We then define a one-player reasoning problem in the context of the decision-making theory, where the machinery processes are designed to simulate classical and quantum reasoning. In such settings, we present a scenario where a rational player is able to make better use of his/her weak preferences due to quantum reasoning, without any altering or resetting of the classically defined game. We also argue in further analysis that the quantum reasoning may make the player fail, and even make the situation worse, due to any inappropriate preferences.Comment: 9 pages, 10 figures, The scenario is more improve

An encompassing framework for Paraconsistent Logic Programs

AbstractWe propose a framework which extends Antitonic Logic Programs [Damásio and Pereira, in: Proc. 6th Int. Conf. on Logic Programming and Nonmonotonic Reasoning, Springer, 2001, p. 748] to an arbitrary complete bilattice of truth-values, where belief and doubt are explicitly represented. Inspired by Ginsberg and Fitting's bilattice approaches, this framework allows a precise definition of important operators found in logic programming, such as explicit and default negation. In particular, it leads to a natural semantical integration of explicit and default negation through the Coherence Principle [Pereira and Alferes, in: European Conference on Artificial Intelligence, 1992, p. 102], according to which explicit negation entails default negation. We then define Coherent Answer Sets, and the Paraconsistent Well-founded Model semantics, generalizing many paraconsistent semantics for logic programs. In particular, Paraconsistent Well-Founded Semantics with eXplicit negation (WFSXp) [Alferes et al., J. Automated Reas. 14 (1) (1995) 93–147; Damásio, PhD thesis, 1996]. The framework is an extension of Antitonic Logic Programs for most cases, and is general enough to capture Probabilistic Deductive Databases, Possibilistic Logic Programming, Hybrid Probabilistic Logic Programs, and Fuzzy Logic Programming. Thus, we have a powerful mathematical formalism for dealing simultaneously with default, paraconsistency, and uncertainty reasoning. Results are provided about how our semantical framework deals with inconsistent information and with its propagation by the rules of the program