Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems (Google eBook)

Front Cover
MIT Press, Jul 27, 2001 - Computers - 448 pages
0 Reviews
Modeling and implementing dynamical systems is a central problem in artificial intelligence, robotics, software agents, simulation, decision and control theory, and many other disciplines. In recent years, a new approach to representing such systems, grounded in mathematical logic, has been developed within the AI knowledge-representation community.This book presents a comprehensive treatment of these ideas, basing its theoretical and implementation foundations on the situation calculus, a dialect of first-order logic. Within this framework, it develops many features of dynamical systems modeling, including time, processes, concurrency, exogenous events, reactivity, sensing and knowledge, probabilistic uncertainty, and decision theory. It also describes and implements a new family of high-level programming languages suitable for writing control programs for dynamical systems. Finally, it includes situation calculus specifications for a wide range of examples drawn from cognitive robotics, planning, simulation, databases, and decision theory, together with all the implementation code for these examples. This code is available on the book's Web site.
  

What people are saying - Write a review

We haven't found any reviews in the usual places.

Contents

Introduction
1
Logical Preliminaries
5
22 SecondOrder Logic
12
23 Exercises
15
24 Bibliographic Remarks
18
Introduction to the Situation Calculus
19
32 A Simple Solution to the Frame Problem Sometimes
23
33 Deductive Planning with the Situation Calculus
35
88 Bibliographic Remarks
203
Progression
205
91 Logical Foundations of Progression
207
92 Two FirstOrder Progressable Cases
210
93 STRIPS Planning Systems
216
94 Strongly ContextFree Successor State Axioms
223
95 Progression and Relational STRIPS
224
96 An OpenWorld STRIPS
226

34 Formalizing Database Transactions in the Situation Calculus
39
35 Exercises
41
36 Bibliographic Remarks
44
Foundations of the Situation Calculus
47
42 Axioms for the Situation Calculus
48
43 Reasoning about Situations Using Induction
54
44 Basic Theories of Action
58
45 Regression
61
46 Using Regression
67
47 Regression with Functional Fluents
70
48 Database Logs and Historical Queries
73
49 Exercises
78
410 Bibliographic Remarks
83
Implementing Basic Action Theories
85
52 LloydTopor Normal Forms for Arbitrary Definitions and Goals
90
53 Basic Action Theories Definitions and Regressable Queries
95
54 Exercises
107
55 Bibliographic Remarks
108
Complex Actions Procedures and Golog
111
62 An Elevator Controller in Golog
119
63 Implementation
122
64 Discussion
132
65 Proving Properties of Golog Programs
134
66 Summary
138
67 Exercises
140
68 Bibliographic Remarks
145
Time Concurrency and Processes
149
72 Concurrency via Interleaving
150
73 The Sequential Temporal Situation Calculus
152
74 Sequential Temporal Golog
155
75 The Concurrent NonTemporal Situation Calculus
164
76 Axiomatizing Concurrent Worlds
166
77 The Concurrent Temporal Situation Calculus
167
78 Concurrent Temporal Golog
169
79 Natural Actions
170
710 Exercises
182
711 Bibliographic Remarks
183
Exogenous Actions Interrupts and Reactive Golog
185
82 The Semantics of RGolog
187
83 An RGolog Interpreter
190
A Reactive Elevator Controller
191
85 Interrupts with Priorities
198
86 Discussion
199
87 Exercises
202
97 Correctness of Relational and OpenWorld STRIPS
228
98 Exercises
230
99 Bibliographic Remarks
231
Planning
233
Planning in the Blocks World
235
103 Planning with Concurrent Actions
242
A MultiHanded Blocks World Agent
247
105 A Simple DepthFirst Planner
255
106 OpenWorld Planning
259
107 Planning vs Nondeterministic Programming
275
108 Exercises
277
109 Bibliographic Remarks
280
Sensing and Knowledge
283
112 Knowledge and the Designers Perspective
292
113 KnowledgeProducing Actions
293
114 The Frame Problem for KnowledgeProducing Actions
294
115 Accessibility in the Initial Situation
302
116 Regression for KnowledgeProducing Actions
306
117 KnowledgeBased Programming
309
118 Discussion
327
119 Exercises
328
1110 Bibliographic Remarks
332
Probability and Decision Theory
335
122 Derived Probabilities
341
123 Exogenous Events
349
124 Uncertainty in the Initial Situation
359
125 Markov Decision Processes
363
126 Discussion
379
127 Exercises
380
128 Bibliographic Remarks
383
Concluding Remarks
385
Some Useful FirstOrder Inference Rules
389
A2 Generation Rules
391
A3 Success Rules
392
A5 Simplification Rules
393
A6 Additional Success Rules
394
A8 Exercises
399
The Qualification and Ramification Problems
401
B2 Constraints and the Qualification Problem
402
B3 Solving the Qualification and Ramification Problems
404
Resources
407
References
409
Index
419
Copyright

Common terms and phrases

Popular passages

Page 2 - Any mechanically embodied intelligent process will be comprised of structural ingredients that (a) we as external observers naturally take to represent a prepositional account of the knowledge that the overall process exhibits, and (b) independent of such external semantical attribution, play a formal but causal and essential role in engendering the behaviour that manifests that knowledge.
Page 409 - F. Bacchus and F. Kabanza. Using temporal logic to control search in a forward chaining planner.
Page 409 - D. Calvanese, M. Lenzerini. and D. Nardi. Description logics for conceptual data modeling. In J. Chomicki and G. Saake. editors. Logics for Databases and Information Systems, pages 229-263.
Page 409 - Hanks. Decision-theoretic planning: Structural assumptions and computational leverage. Journal of Artificial Intelligence Research, 11:194, 1999.
Page 417 - Proc. First International Conference on Principles of Knowledge Representation and Reasoning (KR '89), pages 505-516, 1989.
Page 418 - B. Freitag, H. Decker, M. Kifer, and A. Voronkov, editors, Transactions and Change in Logic Databases, volume 1472 of Lecture Notes in Computer Science, pages 356-387.
Page 409 - In JF Allen, HA Kautz, RN Pelavin, and JD Tenenberg, editors, Reasoning about Plans, pages 127-211.

References to this book

All Book Search results »

Bibliographic information