golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems

In Proc. AAAI Spring Symposium 2010 on Embedded Reasoning

Authors: Alexander Ferrein Type: Article in Conference Proceedings Publication Date: March 2010 Conference: AAAI Spring Symposium 2010 on Embedded Reasoning, Stanford University Editor: Gabe Hoffmann Series: (SS-10-04) Download: golog-lua-aaai2010spring.pdf

Abstract: Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot programming and plan language Golog follows a logic-based deliberative approach, and its successors were successfully deployed in a number of robotics applications over the past ten years. Usually, Golog interpreter are implemented in Prolog, which is not available for our target platform, the bi-ped robot platform Nao. In this paper we sketch our novel prototype implementation of a Golog interpreter in the scripting language Lua. With the example of the elevator domain we discuss how the basic action theory is specified and how we implemented fluent regression or backtracking in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes available on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.