Mixing non-monotonic logical reasoning and probabilistic planning for robots

Mohan Sridharan, Michael Gelfond, Shiqi Zhang, Jeremy Wyatt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper describes an architecture that combines the complementary strengths of probabilistic graphical models and declarative programming to represent and reason with qualitative and quantitative descriptions of domain knowledge and uncertainty. An action language is used for the architecture’s low-level (LL) and high-level (HL) system descriptions, and the HL definition of recorded history is expanded to allow prioritized defaults. For any given objective, each action in the plan created in the HL using non-monotonic logical reasoning is executed probabilistically in the LL, refining the HL description to identify the relevant sorts, fluents and actions, and adding the corresponding action outcomes to the HL history. The HL and LL domain representations are translated into an Answer
Set Prolog (ASP) program and a partially observable Markov decision process (POMDP) respectively. ASP-based inference provides a multinomial prior for POMDP state estimation, and populates a Beta density of priors for metareasoning and early termination. Robots equipped with this architecture reason with violation of defaults, noisy observations and unreliable actions in complex domains. The architecture is evaluated in simulation and on a mobile robot moving target objects to desired locations in an office domain
Original languageEnglish
Title of host publicationWorkshop on Hybrid Reasoning at the International Joint Conference on Artificial Intelligence (IJCAI 2015)
PublisherRWTH Aachen University
Number of pages7
Publication statusPublished - 26 Jul 2015
EventWorkshop on Hybrid Reasoning at the International Joint Conference on Artificial Intelligence (IJCAI 2015) - Buenos Aires, Argentina
Duration: 26 Jul 201526 Jul 2015

Conference

ConferenceWorkshop on Hybrid Reasoning at the International Joint Conference on Artificial Intelligence (IJCAI 2015)
Country/TerritoryArgentina
CityBuenos Aires
Period26/07/1526/07/15

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