Experiments in integrating constraints with logical reasoning for robotic planning within the twelf logical framework and the prolog language
Author(s)
Advisor
Saranlı, UluçDate
2008Publisher
Bilkent University
Language
English
Type
ThesisItem Usage Stats
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Abstract
The underlying domain of various application areas, especially real-time systems
and robotic applications, generally includes a combination of both discrete
and continuous properties. In robotic applications, a large amount of different
approaches are introduced to solve either a discrete planning or control theoretic
problem. Only a few methods exist to solve the combination of them. Moreover,
these methods fail to ensure a uniform treatment of both aspects of the domain.
Therefore, there is need for a uniform framework to represent and solve such
problems. A new formalism, the Constrained Intuitionistic Linear Logic (CILL),
combines continuous constraint solvers with linear logic. Linear logic has a great
property to handle hypotheses as resources, easily solving state transition problems.
On the other hand, constraint solvers deal well with continuous problems
defined as constraints. Both properties of CILL gives us powerful ways to express
and reason about the robotics domain. In this thesis, we focus on the implementation
of CILL in both the Twelf Logical Framework and Prolog. The reader of
this thesis can find answers of why classical aspects are not proper for the robotics
domain, what advantages one can gain from intuitionism and linearity, how one
can define a simple robotic domain in a logical formalism, how a proof in logical
system corresponds to a plan in the robotic domain, what the advantages and
disadvantages of logical frameworks and Prolog have and how the implementation
of CILL can or cannot be done using both Twelf Logical Framework and Prolog.
Keywords
Constrained intuitionistic linear logicAutomated theorem proving
Intuitionism
Planning in robotics
Logical framework
Prolog