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dc.contributor.authorSaranlı, Uluçen_US
dc.contributor.authorPfenning F.en_US
dc.coverage.spatialRoma, Italyen_US
dc.date.accessioned2016-02-08T11:43:45Z
dc.date.available2016-02-08T11:43:45Z
dc.date.issued2007en_US
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11693/27079
dc.descriptionDate of Conference: 10-14 April 2007en_US
dc.description.abstractSynthesis of robot behaviors towards nontrivial goals often requires reasoning about both discrete and continuous aspects of the underlying domain. Existing approaches in building automated tools for such synthesis problems attempt to augment methods from either discrete planning or continuous control with hybrid elements, but largely fail to ensure a uniform treatment of both aspects of the domain. In this paper, we present a new formalism, Constrained Intuitionistic Linear Logic (CILL), merging continuous constraint solvers with linear logic to yield a single language in which hybrid properties of robotic behaviors can be expressed and reasoned with. Following a gentle introduction to linear logic, we describe the two new connectives of CILL, introduced to interface the constraint domain with the logical fragment of the language. We then illustrate the application of CILL for robotic planning problems within the Balanced Blocks World, a "physically realistic" extension of the Blocks World domain. Even though some of the formal proofs for the semantic foundations of the language as well as an efficient implementation of a theorem prover are yet to be completed, CILL promises to be a powerful formalism in reasoning within hybrid domains. © 2007 IEEE.en_US
dc.language.isoEnglishen_US
dc.source.titleProceedings 2007 IEEE International Conference on Robotics and Automationen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ROBOT.2007.364046en_US
dc.subjectConstraint theoryen_US
dc.subjectMotion planningen_US
dc.subjectProblem solvingen_US
dc.subjectRoboticsen_US
dc.subjectSemanticsen_US
dc.subjectTheorem provingen_US
dc.subjectConstrained Intuitionistic Linear Logic (CILL)en_US
dc.subjectRobot behaviorsen_US
dc.subjectSemantic foundationsen_US
dc.subjectFormal logicen_US
dc.titleUsing constrained intuitionistic linear logic for hybrid robotic planning problemsen_US
dc.typeConference Paperen_US
dc.departmentDepartment of Computer Engineering
dc.citation.spage3705en_US
dc.citation.epage3710en_US
dc.identifier.doi10.1109/ROBOT.2007.364046en_US
dc.publisherIEEEen_US


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