Planning in uncertain environments through situation calculus

Abstract

We try to broaden the scope of the situation ealeulus developed in the tradition of Green /69/, Mc Carthy, Hayes /69/ to cope with uncertainity. The situation dependent object functions are used for that purpose. Our method is explained on examples of cat and mouse in a maze and a BRIDGE termination. We shall impose some restrictions on the world, the robot and its goals under which a theorem prover can carry the planning of robot a activity in a changing or not completely known environment. Finally we show how the activity of the executing robot of Siklossy can be planned in our formalism.