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Self-Maintenance for Autonomous Robots in the Situation Calculus Schiffer, Stefan Wortmann, Andreas Lakemeyer, Gerhard Domestic mobile robotics self-maintenance robustness 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. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Stefan Schiffer and Andreas Wortmann and Gerhard Lakemeyer 2010 Is Part Of Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/DagSemProc.10081.15 urn:nbn:de:0030-drops-26363 https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.15 eng https://creativecommons.org/licenses/by/4.0/legalcode