An on-line decision-theoretic Golog interpreter

Abstract

We consider an on-line decision-theoretic interpreter and incremental execution of Golog programs. We introduce two new search control operators and demonstrate in an example how one of them can be used to save computational efforts. In addition to sensing actions designed to identify outcomes of stochastic actions, we consider a new representation for sensing actions that may return both binary and real valued data at the run time. Programmers may use sensing actions explicitly in Golog programs whenever results of sensing are required to evaluate tests. The representation for sensing actions that we introduce allows the use of regression, a computationally efficient mechanism for evaluation of tests. We describe an implementation of the on-line incremental decision-theoretic Golog interpreter in Prolog. The implementation was tested on the B21 robot Golem manufactured by RWI. 1 Introduction This report provides an overview of our recent research devoted to designing c...