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Authors: Victor Mataré 1 ; Tarik Viehmann 2 ; Till Hofmann 2 ; Gerhard Lakemeyer 2 ; Alexander Ferrein 1 and Stefan Schiffer 1

Affiliations: 1 Institute for Mobile Autonomous Systems and Cognitive Robotics, FH Aachen University of Applied Sciences, Aachen, Germany ; 2 Knowledge-based Systems Group, RWTH Aachen University, Aachen, Germany

Keyword(s): Robotics, Agents, Planning, Constraints, Abstraction, Golog, Action Logic.

Abstract: We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent’s domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog++ and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Mataré, V.; Viehmann, T.; Hofmann, T.; Lakemeyer, G.; Ferrein, A. and Schiffer, S. (2021). Portable High-level Agent Programming with golog++. In Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART; ISBN 978-989-758-484-8; ISSN 2184-433X, SciTePress, pages 218-227. DOI: 10.5220/0010253902180227

@conference{icaart21,
author={Victor Mataré. and Tarik Viehmann. and Till Hofmann. and Gerhard Lakemeyer. and Alexander Ferrein. and Stefan Schiffer.},
title={Portable High-level Agent Programming with golog++},
booktitle={Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART},
year={2021},
pages={218-227},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010253902180227},
isbn={978-989-758-484-8},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART
TI - Portable High-level Agent Programming with golog++
SN - 978-989-758-484-8
IS - 2184-433X
AU - Mataré, V.
AU - Viehmann, T.
AU - Hofmann, T.
AU - Lakemeyer, G.
AU - Ferrein, A.
AU - Schiffer, S.
PY - 2021
SP - 218
EP - 227
DO - 10.5220/0010253902180227
PB - SciTePress

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