17,251 research outputs found
Handling Defeasibilities in Action Domains
Representing defeasibility is an important issue in common sense reasoning.
In reasoning about action and change, this issue becomes more difficult because
domain and action related defeasible information may conflict with general
inertia rules. Furthermore, different types of defeasible information may also
interfere with each other during the reasoning. In this paper, we develop a
prioritized logic programming approach to handle defeasibilities in reasoning
about action. In particular, we propose three action languages {\cal AT}^{0},
{\cal AT}^{1} and {\cal AT}^{2} which handle three types of defeasibilities in
action domains named defeasible constraints, defeasible observations and
actions with defeasible and abnormal effects respectively. Each language with a
higher superscript can be viewed as an extension of the language with a lower
superscript. These action languages inherit the simple syntax of {\cal A}
language but their semantics is developed in terms of transition systems where
transition functions are defined based on prioritized logic programs. By
illustrating various examples, we show that our approach eventually provides a
powerful mechanism to handle various defeasibilities in temporal prediction and
postdiction. We also investigate semantic properties of these three action
languages and characterize classes of action domains that present more
desirable solutions in reasoning about action within the underlying action
languages.Comment: 49 pages, 1 figure, to be appeared in journal Theory and Practice
Logic Programmin
KR: 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
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
Disjunctive Logic Programs with Inheritance
The paper proposes a new knowledge representation language, called DLP<,
which extends disjunctive logic programming (with strong negation) by
inheritance. The addition of inheritance enhances the knowledge modeling
features of the language providing a natural representation of default
reasoning with exceptions.
A declarative model-theoretic semantics of DLP< is provided, which is shown
to generalize the Answer Set Semantics of disjunctive logic programs.
The knowledge modeling features of the language are illustrated by encoding
classical nonmonotonic problems in DLP<.
The complexity of DLP< is analyzed, proving that inheritance does not cause
any computational overhead, as reasoning in DLP< has exactly the same
complexity as reasoning in disjunctive logic programming. This is confirmed by
the existence of an efficient translation from DLP< to plain disjunctive logic
programming. Using this translation, an advanced KR system supporting the DLP<
language has been implemented on top of the DLV system and has subsequently
been integrated into DLV.Comment: 28 pages; will be published in Theory and Practice of Logic
Programmin
The Qualification Problem: A solution to the problem of anomalous models
AbstractIntelligent agents in open environments inevitably face the Qualification Problem: The executability of an action can never be predicted with absolute certainty; unexpected circumstances, albeit unlikely, may at any time prevent the successful performance of an action. Reasoning agents in real-world environments rely on a solution to the Qualification Problem in order to make useful predictions but also to explain and recover from unexpected action failures. Yet the main theoretical result known today in this context is a negative one: While a solution to the Qualification Problem requires to assume away by default abnormal qualifications of actions, straightforward minimization of abnormality falls prey to the production of anomalous models. We present an approach to the Qualification Problem which resolves this anomaly. Anomalous models are shown to arise from ignoring causality, and they are avoided by appealing to just this concept. Our theory builds on the established predicate logic formalism of the Fluent Calculus as a solution to the Frame Problem and to the Ramification Problem in reasoning about actions. The monotonic Fluent Calculus is enhanced by a default theory in order to obtain the nonmonotonic approach called for by the Qualification Problem. The approach has been implemented in an action programming language based on the Fluent Calculus and successfully applied to the high-level control of robots
Defeasible Logic Programming: An Argumentative Approach
The work reported here introduces Defeasible Logic Programming (DeLP), a
formalism that combines results of Logic Programming and Defeasible
Argumentation. DeLP provides the possibility of representing information in the
form of weak rules in a declarative manner, and a defeasible argumentation
inference mechanism for warranting the entailed conclusions.
In DeLP an argumentation formalism will be used for deciding between
contradictory goals. Queries will be supported by arguments that could be
defeated by other arguments. A query q will succeed when there is an argument A
for q that is warranted, ie, the argument A that supports q is found undefeated
by a warrant procedure that implements a dialectical analysis.
The defeasible argumentation basis of DeLP allows to build applications that
deal with incomplete and contradictory information in dynamic domains. Thus,
the resulting approach is suitable for representing agent's knowledge and for
providing an argumentation based reasoning mechanism to agents.Comment: 43 pages, to appear in the journal "Theory and Practice of Logic
Programming
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