cc-Golog: Towards More Realistic Logic-Based Robot Controllers

TL;DR

This paper introduces cc-Golog, an extension of the situation calculus-based control language, to better model realistic, concurrent, and event-driven robot behaviors while maintaining logical rigor.

Contribution

It extends the situation calculus to support continuous change and event-driven actions, enabling more realistic robot control modeling.

Findings

cc-Golog narrows the expressiveness gap with non-logic control languages

It preserves a semantically well-founded projection mechanism

Enhances modeling of concurrent and continuous processes in robotics

Abstract

High-level robot controllers in realistic domains typically deal with processes which operate concurrently, change the world continuously, and where the execution of actions is event-driven as in ``charge the batteries as soon as the voltage level is low''. While non-logic-based robot control languages are well suited to express such scenarios, they fare poorly when it comes to projecting, in a conspicuous way, how the world evolves when actions are executed. On the other hand, a logic-based control language like \congolog, based on the situation calculus, is well-suited for the latter. However, it has problems expressing event-driven behavior. In this paper, we show how these problems can be overcome by first extending the situation calculus to support continuous change and event-driven behavior and then presenting \ccgolog, a variant of \congolog which is based on the extended situation calculus. One benefit of \ccgolog is that it narrows the gap in expressiveness compared to non-logic-based control languages while preserving a semantically well-founded projection mechanism.