Extending ConGolog to allow partial ordering

Abstract

. In this paper we extend the high level execution language ConGolog (developed at the University of Toronto) by adding to it a new construct which we call the htn-construct. The new construct improves ConGolog by allowing easy specification of non-determinism when a partial ordering between a set of actions needs to be maintained. Furthermore, it allows temporal constraints to be specified easily. We present an implementation of the htn-construct in PROLOG which can be directly added to PROLOG implementations of ConGolog interpreters. 1 Introduction Golog [8] and ConGolog [3--5] are two main high level execution languages developed recently (in the 90's) by the Cognitive Robotics group at the University of Toronto. The approach to write programs in these languages for high level control of robots and other agents in a dynamic and incompletely specified world is proposed as an alternative to the traditional approach based on plan synthesis. The approach of writing programs in Golog/C...