Abstract
In order to allow an autonomous robot to perform non-trivial tasks like to explore a foreign planet the robot has to have deliberative capabilities like reasoning or planning. Logic-based approaches like the programming and planing language Golog and it successors has been successfully used for such decision-making problems. A drawback of this particular programing language is that their interpreter usually are written in Prolog and run on a Prolog back-end. Such back-ends are usually not available or feasible on resource-limited robot systems. In this paper we present our ideas and first results of a re-implementation of the interpreter based on the Lua scripting language which is available on a wide range of systems including small embedded systems.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Beetz, M.: Structured Reactive Controllers. Autonomous Agents and Multi-Agent Systems 4(2), 25–55 (2001)
Boutilier, C., Reiter, R., Soutchanski, M., Thrun, S.: Decision-theoretic, high-level agent programming in the situation calculus. In: Proceedings of the Seventeenth National Conference on Artificial Intelligence (AAAI 2000) and Twelfth Conference on Innovative Applications of Artificial Intelligence (IAAI 2000), pp. 355–362. AAAI Press, Menlo Park (2000)
Caldiran, O., Haspalamutgil, K., Ok, A., Palaz, C., Erdem, E., Patoglu, V.: Bridging the gap between high-level reasoning and low-level control. In: Erdem, E., Lin, F., Schaub, T. (eds.) LPNMR 2009. LNCS, vol. 5753, pp. 342–354. Springer, Heidelberg (2009)
De Giacomo, G., Lésperance, Y., Levesque, H.: ConGolog, A concurrent programming language based on situation calculus. Artificial Intelligence 121(1-2), 109–169 (2000)
Ferrein, A.: lua.golog: Towards a non-prolog implementation of golog for embedded systems. In: Lakemeyer, G., Levesque, H., Pirri, F. (eds.) Cognitive Robotics. Dagstuhl Seminar Proceedings, vol. 100081, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany (to appear, 2010)
Ferrein, A., Lakemeyer, G.: Logic-based robot control in highly dynamic domains. Robotics and Autonomous Systems, Special Issue on Semantic Knowledge in Robotics 56(11), 980–991 (2008)
Ferrein, A., Steinbauer, G., McPhillips, G., Potgieter, A.: RoboCup Standard Platform League - Team Zadeat - An Intercontinental Research Effort. In: International RoboCup Symposium, Suzhou, China (2008)
Giacomo, G.D., Lésprance, Y., Levesque, H.J., Sardina, S.: Multi-Agent Programming: Languages, Tools and Applications. In: Multi-Agent Programming: Languages, Tools and Applications, pp. 31–72. Springer, Heidelberg (2009)
Grosskreutz, H., Lakemeyer, G.: ccgolog – A logical language dealing with continuous change. Logic Journal of the IGPL 11(2), 179–221 (2003)
Hempel, R.: pblua – scripting fot the LEGO NXT (2010), http://www.hempeldesigngroup.com/lego/pblua/ (last visited on May 21, 2010)
Hirschi, A.: Traveling Light, the Lua Way. IEEE Software 24(5), 31–38 (2007)
Ierusalimschy, R., de Figueiredo, L.H., Filho, W.C.: Lua - An Extensible Extension Language. Software: Practice and Experience 26(6), 635-652 (1999)
Ierusalimschy, R., de Figueiredo, L.H., Filho, W.C.: The Evolution of Lua. In: Proceedings of History of Programming Languages III, pp. 2–1 – 2–26. ACM, New York (2007)
Konolige, K., Myers, K., Ruspini, E., Saffiotti, A.: The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence 9, 215–235 (1997)
Levesque, H.J., Pagnucco, M.: Legolog: Inexpensive experiments in cognitive robotics. In: Proceedings of the Second International Cognitive Robotics Workshop, Berlin, Germany (2000)
Levesque, H.J., Reiter, R., Lésprance, Y., Lin, F., Scherl, R.B.: GOLOG: A logic programming language for dynamic domains. The Journal of Logic Programming 31(1-3), 59–83 (1997), http://www.sciencedirect.com/science/article/B6V0J-3SNV3TD-4/2/11b8202180bb72d91149646db7f4979e , reasoning about Action and Change
McCarthy, J.: Situations, Actions and Causal Laws. Tech. rep., Stanford University (1963)
Niemüller, T., Ferrein, A., Lakemeyer, G.: A lua-based behavior engine for controlling the humanoid robot nao. In: Baltes, J., et al. (eds.) RoboCup 2009. LNCS, vol. 5949, pp. 240–251. Springer, Heidelberg (2010)
Pham, H.: Applying DTGolog to Large-scale Domains. Master’s thesis, Department of Electrical and Computer Engineering, Ryerson University, Toronot, Canada (2006)
Reiter, R.: Knowledge in Action. Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press, Cambridge (2001)
Russell, S., Norvig, P.: Artificial Intelligence: A Modern Approach, 2nd edn. Prentice-Hall, Englewood Cliffs (2003)
Talaga, P., Oh, J.C.: Combining AIMA and LEGO mindstorms in an artificial intelligence course to build realworldrobots. Journal of Computing Science in Colleges 24(3), 56–64 (2009)
The Debian Project: The Computer Language Benchmarks Game, http://shootout.alioth.debian.org/ (retrieved January 30, 2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ferrein, A., Steinbauer, G. (2010). On the Way to High-Level Programming for Resource-Limited Embedded Systems with Golog. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2010. Lecture Notes in Computer Science(), vol 6472. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17319-6_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-17319-6_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17318-9
Online ISBN: 978-3-642-17319-6
eBook Packages: Computer ScienceComputer Science (R0)