An embedding of ConGolog in 3APL

Abstract

Several high-level programming languages for programming agents and robots have
\nbeen proposed in recent years. Each of these languages has its own features and merits.
\nIt is still difficult, however, to compare different programming frameworks and evaluate
\nthe relative benefits and disadvantages of these frameworks. In this paper, we present a
\ngeneral method for comparing agent programming frameworks based on a notion of bisimulation,
\nand use it to formally compare the languages ConGolog and 3APL. ConGolog is
\na concurrent language for high-level robot programming based on the situation calculus.
\nConGolog provides a logical perspective on robot programming, but also incorporates a
\nnumber of imperative programming constructs like sequential composition. 3APL is an
\nagent programming language and its semantics offers a more operational perspective on
\nagents. The language is a combination of logic and imperative programming and provides
\noperators for beliefs, goals and plans of an agent. We show that ConGolog and 3APL are
\nclosely related languages by constructing an embedding of ConGolog in 3APL. This embedding
\nshows how ConGolog programs can be translated into equivalent 3APL programs.
\nA number of interesting issues need to be resolved to construct the embedding. These
\ninclude a comparison of states in 3APL with situations in ConGolog, the form of basic
\naction theories, complete vs. incomplete knowledge, and execution models concerning the
\n
\now of control of agent programs.