Representing the knowledge of a robot

摘要

Acquiring information about its environment by sensing is a crucial ability of autonomous robots. Based on the established solution to the Frame Problem of the Fluent Calculus, we present a new, unifying formalism for representing and reasoning about sensing actions, knowledge preconditions, conditional actions, non-knowledge, and about what goals a robot can possibly achieve. In A. Cohn and F. Giunchiglia and B. Selman, editors, Proc. of the International Conference on Principles of Knowledge Representation and Reasoning, pages 109-120, Breckenridge, CO, 2000. Morgan Kaufmann 1 INTRODUCTION Intelligent, autonomous robots choose most of their actions conditioned on the state of their environment. They are equipped with sensors for the purpose of acquiring information about the external world. Robots that perform reasoning about their goals and actions thus need an explicit representation of what they know of a state and how sensing aects their knowledge [ Moore, 1985 ] . F...