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Ferrein, Alexander

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

10081.Ferrein.2631.pdf (0.3 MB)


Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot program¬ming 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 plat¬form, the bi-ped robot platform Nao. In this paper we sketch our first approach towards a 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 in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes avail¬able on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.

BibTeX - Entry

  author =	{Alexander Ferrein},
  title =	{golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems},
  booktitle =	{Cognitive Robotics},
  year =	{2010},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  number =	{10081},
  series =	{Dagstuhl Seminar Proceedings},
  ISSN =	{1862-4405},
  publisher =	{Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},
  address =	{Dagstuhl, Germany},
  URL =		{},
  annote =	{Keywords: Action and change, high-level control, robotics}

Keywords: Action and change, high-level control, robotics
Seminar: 10081 - Cognitive Robotics
Issue Date: 2010
Date of publication: 27.10.2010

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