2,005 research outputs found
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
Complexity of Prioritized Default Logics
In default reasoning, usually not all possible ways of resolving conflicts
between default rules are acceptable. Criteria expressing acceptable ways of
resolving the conflicts may be hardwired in the inference mechanism, for
example specificity in inheritance reasoning can be handled this way, or they
may be given abstractly as an ordering on the default rules. In this article we
investigate formalizations of the latter approach in Reiter's default logic.
Our goal is to analyze and compare the computational properties of three such
formalizations in terms of their computational complexity: the prioritized
default logics of Baader and Hollunder, and Brewka, and a prioritized default
logic that is based on lexicographic comparison. The analysis locates the
propositional variants of these logics on the second and third levels of the
polynomial hierarchy, and identifies the boundary between tractable and
intractable inference for restricted classes of prioritized default theories
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
Reasoning by Cases in Structured Argumentation
We extend the framework for structured argumentation so as to allow
applications of the reasoning by cases inference scheme for defeasible
arguments. Given an argument with conclusion ` or ', an argument based on
with conclusion , and an argument based on with conclusion , we
allow the construction of an argument with conclusion . We show how our
framework leads to different results than other approaches in non-monotonic
logic for dealing with disjunctive information, such as disjunctive default
theory or approaches based on the OR-rule (which allows to derive a defeasible
rule `If ( or ) then ', given two defeasible rules `If then '
and `If then '). We raise new questions regarding the subtleties of
reasoning defeasibly with disjunctive information, and show that its
formalization is more intricate than one would presume.Comment: Proceedings of SAC/KRR 201
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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