Deriving Fluents from Sensor Data for Mobile Robots

Mark Witkowski, David Randell, and Murray Shanahan

In this paper we consider some practical issues of grounding logical symbols derived from low-level sensor streams in the context of a miniature mobile robot. We identify three distinct layers, primitive, derived and synthetic, at which symbols may be anchored in order to connect a model-based view of the robot’s world with its sensory input. The Event Calculus, a logical formalism for reasoning about action, forms the basis of an abductive approach to several related robot tasks, sensor data assimilation, planning and map building.

This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.