Self-Maintenance for Autonomous Robots in the Situation Calculus

Authors Stefan Schiffer, Andreas Wortmann, Gerhard Lakemeyer

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Stefan Schiffer
Andreas Wortmann
Gerhard Lakemeyer

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Stefan Schiffer, Andreas Wortmann, and Gerhard Lakemeyer. Self-Maintenance for Autonomous Robots in the Situation Calculus. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)


In order to make a robot execute a given task plan more robustly we want to enable it to take care of its self-maintenance requirements during online execution of this program. This requires the robot to know about the (internal) states of its components, constraints that restrict execution of certain actions and possibly also how to recover from faulty situations. The general idea is to implement a transformation process on the plans, which are specified in the agent programming language ReadyLog, to be performed based on explicit (temporal) constraints. Afterwards, a ’guarded’ execution of the transformed program should result in more robust behavior.
  • Domestic mobile robotics
  • self-maintenance
  • robustness


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