Abstract
The vast majority of mobile robotic systems have been designed to solve “one off”, unique problems, with specialized sensors, robot hardware and computation; and porting robotics software from one platform to another has always been a thorny problem. In this paper, we show how by choosing an appropriate level of abstraction, one can write hardware-independent controllers for robots that perform complex navigation and reasoning tasks. We describe the steps that we have taken towards specifying a general interface through which our high-level programs can interact with a variety of robotic platforms. As an example, we discuss a mail delivery program that runs on both an RWI B21 and a Nomad200 system.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
J. Buhmann, W. Burgard, A.B. Cremers, D. Fox, T. Hofmann, F. Schneider, J. Strikos, and S. Thrun. The mobile robot Rhino. Technical Report IAI-TR-95-2, Intitut für Informatik III, University of Bonn, January 1995.
M. Jenkin, N. Bains, J. Bruce, T. Campbell, B. Down, P. Jasiobedzki, A. Jepson, B. Majarais, E. Milios, B. Nickerson, J. Service, D. Terzopoulos, J. Tsotsos, and D. Wilkes. ARK: Autonomous mobile robot for an industrial environment. In Proc. IEEE/RSJ IROS, Munich, 1994.
Hector J. Levesque, Raymond Reiter, Yves Lesperance, Fangzhen Lin, and Richard B. Scherl. Golog: A logic programming language for dynamic domains. To appear in Journal of Logic Programming. Special issue on Reasoning about Action and Change, 1997.
R. C. Moore. Reasoning about knowledge and action. Technical report, AI Center, SRI International, Menlo Park, CA, 1980. Technical Report 191.
R. Reiter. The frame problem in the situation calculus: A simple solution (sometimes) and a completeness result for goal regression. In V. Lifschitz, editor, Artificial Intelligence and Mathematical Theory of Computation: Papers in Honor of John McCarthy, pages 359–380. Academic Press, San Diego, CA, 1991.
M. Robinson and M. Jenkin. Reactive low level control for the ARK. In Proc. VI '94, pages 41–47, 1994.
Richard B. Scherl and Hector J. Levesque. The frame problem and knowledge producing actions. In Proceedings of the Eleventh National Conference on Artificial Intelligence, pages 689–695, Washington, DC, July 1993.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1997 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tam, K. et al. (1997). Controlling autonomous robots with Golog . In: Sattar, A. (eds) Advanced Topics in Artificial Intelligence. AI 1997. Lecture Notes in Computer Science, vol 1342. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63797-4_53
Download citation
DOI: https://doi.org/10.1007/3-540-63797-4_53
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-63797-4
Online ISBN: 978-3-540-69649-0
eBook Packages: Springer Book Archive