Robot Location Estimation in the Situation Calculus

V. Belle, H. J. Levesque

Research output: Contribution to conferencePaperpeer-review

Abstract

Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and especially about how these dependencies change as a result of actions. Building on a general framework by Bacchus, Halpern and Levesque for reasoning about degrees of belief in the situation calculus, and a recent extension to it for continuous domains, in this paper we illustrate location estimation in the presence of a rich theory of actions using an example. We also show that while actions might affect prior distributions in nonstandard ways, suitable posterior beliefs are nonetheless entailed as a side-effect of the overall specification.
Original languageEnglish
Number of pages7
Publication statusPublished - 2013
Event11th International Symposium on Logical Formalizations of Commonsense Reasoning - Ayia Napa, Cyprus
Duration: 27 May 201329 May 2013
http://commonsensereasoning.org/2013/index.html

Symposium

Symposium11th International Symposium on Logical Formalizations of Commonsense Reasoning
Abbreviated titleCommonsense 2013
Country/TerritoryCyprus
CityAyia Napa
Period27/05/1329/05/13
Internet address

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