A robot, in order to act intelligently, must be able to reason from facts which its sensors detect to conclusions which govern its actions. This reasoning process is so central to human intelligence that it seems immediately relevant to the problems of robot design to consider its properties, how it might be analysed and imitated.

This paper is a survey and discussion of research work relevant to the task of constructing some kind of reasoning robot. The emphasis is entirely on the organization of the reasoning processes, in particular planning, rather than on hardware. In practice the reasoning would most probably be carried out within a digital computer. My objective is to clarify the relationship between some superficially rather disparate approaches to this task, and simultaneously to indicate what seem to be the key problem areas. No new experimental results are presented, but the approach to the subject which I have adopted is a consequence of earlier experimentation with a simple computer simulation of a robot (Doran 1968a, 1969).

Note: PDF of full volume downloadable by clicking on title above (26 MB). Selected individual chapters available from the links below. CONTENTSINTRODUCTION MATHEMATICAL FOUNDATIONS1 The morphology of prex—an essay in meta-algorithmics. J. LAS KS 32 Program schemata. M. S. PATE RSON 193 Language definition and compiler validation. J. J. FLORENTIN 334 Placing trees in lexicographic order. H. I.S COINS 43 THEOREM PROVING5 A new look at mathematics and its mechanization. B. M ELTZER 636 Some notes on resolution strategies. B. MELTZER 717 The generalized resolution principle. J. A. ROBINSON 778 Some tree-paring strategies for theorem proving. D.LUCKHAM 959 Automatic theorem proving with equality substitutions andmathematical induction. J. L. D ARLINGTON 113 MACHINE LEARNING AND HEURISTIC PROGRAMMING10 On representations of problems of reasoning about actions.S.AMAREL 13111 Descriptions. E.W.ELCOCK 17312 Kalah on Atlas. A.G.BELL 18113 Experiments with a pleasure-seeking automaton: J. E. DORAN 19514 Collective behaviour and control problems. V.I.VARSHAVSKY 217 MAN—MACHINE INTERACTION15 A comparison of heuristic, interactive, and unaided methods ofsolving a shortest-route problem. D.MICHIE, J. G. FLEMING andJ. V.OLDFIELD 24516 Interactive programming at Carnegie Tech. A.H.BOND 25717 Maintenance of large computer systems—the engineer's assistant.M.H.J.BAYLIS 269 COGNITIVE PROCESSES: METHODS AND MODELS18 The syntactic analysis of English by machine. J.P.THORNE,P.BRATLEY and H.DEWAR 28119 The adaptive memorization of sequences. H.C.LONOUETHIGGINSand A.ORTONY 311 PATTERN RECOGNITION20 An application of Graph Theory in pattern recognition.C.J.HILDITCH 325 PROBLEM-ORIENTED LANGUAGES21 Some semantics for data structures. D. PARK 35122 Writing search algorithms in functional form. R.M.BURSTALL 37323 Assertions: programs written without specifying unnecessaryorder. J.M.FOSTER 38724 The design philosophy of Pop-2. R.J.POPPLESTONE 393 INDEX 403 Machine Intelligence Workshop

Attempts to write'intelligent' computer programs have commonly involved the choice for attack of some particular aspect of intelligent behaviour, together with the choice of some relevant task, or range of tasks, which the program must perform. The emphasis is sometimes on the generality of the program's ability, sometimes on the importance of the particular task which it can perform. Well-known examples of such programs are Newell, Shaw, and Simon's General Problem Solver (1959; see also Ernst and Newell, 1967), which is applicable to a wide range of simple problems, Samuel's checker (draughts) playing program (1959, 1967), and the program written by Evans (1964), which solves geometric analogy problems. However, there is another approach to the goal of machine intelligence which stresses the relationship of an organism to its environment and which sets out from the start to understand what is involved in this relationship. Long ago Grey Walter (1953) experimented with mechanical'tortoises' which could range over the floor in a lifelike manner. Toda (1962), in a whimsical and illuminating paper, has discussed the problems facing an automaton in a simple artificial environment. Friedman (1967), a psychologist, has described a computer simulation of instinctive behaviour involving an automaton equipped with sensory and motor systems.

"The purpose of this paper is to clarify some basic issues of choice of representation for problems of reasoning about actions. The general problem of re- Presentation is concerned with the relationship between different ways of formulating a problem to a problem solving system and the efficiency with which the system can be expected to find a solution to the problem. An understanding of the relationship between problem formulation and problem solving efficiency is a prerequisite for the design of procedures that can automatically choose the most `appropriate' representation of a problem ( they can find a `point of view' of the problem that maximally simplifies the process of finding a solution).Many problems of practical importance are problems of reasoning about actions. In these problems, a course of action has to be found that satisfies a number of specified conditions. A formal definition of this class of problems is given in the next section, in the context of a general conceptual framework for formulating these problems for computers. Everyday examples of reasoning about actions include planning an airplane trip, organizing a dinner party, etc. There are many examples of industrial and military problems in this category, such as scheduling assembly and transportation processes, designing a program for a computer, planning a military operation, etc."In D.Michie (Ed.), Machine intelligence 3. New York: American Elsevier,131-171

A new signature table technique is described together with an improved book learning procedure which is thought to be much superior to the linear polynomial method described earlier. Full use is made of the so called “alpha-beta” pruning and several forms of forward pruning to restrict the spread of the move tree and to permit the program to look ahead to a much greater depth than it other- wise could do. While still unable to outplay checker masters, the program’s playing ability has been greatly improved.See also:IEEE XploreAnnual Review in Automatic Programming, Volume 6, Part 1, 1969, Pages 1–36Some Studies in Machine Learning Using the Game of CheckersIBM J of Research and Development ll, No.6, 1967,601

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E.A. Feigenbaum and J. Feldman (Eds.). Computers and Thought. McGraw-Hill, 1963. This collection includes twenty classic papers by such pioneers as A. M. Turing and Marvin Minsky who were behind the pivotal advances in artificially simulating human thought processes with computers. All Parts are available as downloadable pdf files; most individual chapters are also available separately. COMPUTING MACHINERY AND INTELLIGENCE. A. M. Turing. CHESS-PLAYING PROGRAMS AND THE PROBLEM OF COMPLEXITY. Allen Newell, J.C. Shaw and H.A. Simon. SOME STUDIES IN MACHINE LEARNING USING THE GAME OF CHECKERS. A. L. Samuel. EMPIRICAL EXPLORATIONS WITH THE LOGIC THEORY MACHINE: A CASE STUDY IN HEURISTICS. Allen Newell J.C. Shaw and H.A. Simon. REALIZATION OF A GEOMETRY-THEOREM PROVING MACHINE. H. Gelernter. EMPIRICAL EXPLORATIONS OF THE GEOMETRY-THEOREM PROVING MACHINE. H. Gelernter, J.R. Hansen, and D. W. Loveland. SUMMARY OF A HEURISTIC LINE BALANCING PROCEDURE. Fred M. Tonge. A HEURISTIC PROGRAM THAT SOLVES SYMBOLIC INTEGRATION PROBLEMS IN FRESHMAN CALCULUS. James R. Slagle. BASEBALL: AN AUTOMATIC QUESTION ANSWERER. Green, Bert F. Jr., Alice K. Wolf, Carol Chomsky, and Kenneth Laughery. INFERENTIAL MEMORY AS THE BASIS OF MACHINES WHICH UNDERSTAND NATURAL LANGUAGE. Robert K. Lindsay. PATTERN RECOGNITION BY MACHINE. Oliver G. Selfridge and Ulric Neisser. A PATTERN-RECOGNITION PROGRAM THAT GENERATES, EVALUATES, AND ADJUSTS ITS OWN OPERATORS. Leonard Uhr and Charles Vossler. GPS, A PROGRAM THAT SIMULATES HUMAN THOUGHT. Allen Newell and H.A. Simon. THE SIMULATION OF VERBAL LEARNING BEHAVIOR. Edward A. Feigenbaum. PROGRAMMING A MODEL OF HUMAN CONCEPT FORMULATION. Earl B. Hunt and Carl I. Hovland. SIMULATION OF BEHAVIOR IN THE BINARY CHOICE EXPERIMENT Julian Feldman. A MODEL OF THE TRUST INVESTMENT PROCESS. Geoffrey P. E. Clarkson. A COMPUTER MODEL OF ELEMENTARY SOCIAL BEHAVIOR. John T. Gullahorn and Jeanne E. Gullahorn. TOWARD INTELLIGENT MACHINES. Paul Armer. STEPS TOWARD ARTIFICIAL INTELLIGENCE. Marvin Minsky. A SELECTED DESCRIPTOR-INDEXED BIBLIOGRAPHY TO THE LITERATURE ON ARTIFICIAL INTELLIGENCE. Marvin Minsky.

Report #SP-1395, System Development Corporation, Santa Monica, CA.

"This report describes some experiments in constructing a compiler that makes use of heuristic problem~solving techniques such as those incorporated in the General Problem Solver (GPS). The experiments were aimed at the dual objectives of throwing light on some of the problems of constructing more powerful programming languages and compilers, and of testing whether the task of writing a computer program can be regarded as a "problem" in the sense in which that term is used in GPS. The present paper is concerned primarily with the second objective--with analyzing some of the problem-solving processes that are involved in writing computer programs. At the present stage of their development, no claims will be made for the heuristic programming procedures described here as practical approaches to the construction of compilers. Their interest lies in what they teach us about the nature of the programming task." JACM, 10, 493-506. See also: Artificial intelligence and self-organizing systems: Experiments with a Heuristic Compiler. (http://dl.acm.org/citation.cfm?id=806076)