"In this paper we describe some major new additions to the STRIPS robot problem-solving system. The first addition is a process for generalizing a plan produced by STRIPS so that problem-specific constants appearing in the plan are replaced by problem-independent parameters.The generalized plan, stored in a convenient format called a triangle table, has two important functions. The more obvious function is as a single macro action that can be used by STRIPS—either in whole or in part—during the solution of a subsequent problem. Perhaps less obviously, the generalized plan also plays a central part in the process that monitors the real-world execution of a plan, and allows the robot to react "intelligently" to unexpected consequences of actions.We conclude with a discussion of experiments with the system on several example problems."Artificial Intelligence 3:251-288
For the past several years research on robot problem-solving methods has centered on what may one day be called'simple' plans: linear sequences of actions to be performed by single robots to achieve single goals in static environments. This process of forming new subgoals and new states continues until a state is produced in which the original goal is provable; the sequence of operators producing that state is the desired solution. In the case of a single goal wff, the objective is quite simple: achieve the goal (possibly while minimizing some combination of planning and execution cost). The objective of the system is to achieve the single positive goal (perhaps while minimizing search and execution costs) while avoiding absolutely any state satisfying the negative goal.
We were led to this comparison by the observation that the computer model is weaker in three important ways: search depth is not unbounded, structures matching variables cannot be compared, and structures matching variables cannot be moved. Thus, every recursively enumerable language is generated by a transformational grammar with limited search depth, without equality comparisons of variables, and without moving structures corresponding to variables. On the other hand, both mathematical models allow unbounded depth of analysis; both allow equality comparisons of variables, although the Ginsburg-Partee model.compares
This paper describes a computer system for understanding English. It is based on the belief that in modeling language understanding, we must deal in an integrated way with all of the aspects of language--syntax, semantics, and inference. It enters into a dialog with a person, responding to English sentences with actions and English replies, asking for clarification when its heuristic programs cannot understand a sentence through the use of syntactic, semantic, contextual, and physical knowledge. By developing special procedural representations for syntax, semantics, and inference, we gain flexibility and power.
We will extend Floyd's proof system for flow diagrams to handle commands Which process lists. McCarthy and Painter (1967) deal with arrays by introducing'change' and'access' functions so as to write a[i]: a[j] 1 as a: change (a, i, access 24 BURSTALL King (1969) in mechanising Floyd's technique gives a method for such assignments which, however, introduces case analysis that sometimes becomes unwieldy. Let us recall briefly the technique of Floyd (1967) for proving correctness of programs in flow diagram form. We will here retain the inductive method of Floyd for dealing with flow diagrams containing loops, but give methods for coping with more complex kinds of assignment command.
Abstract: This report presents a language, called QA4, designed to facilitate the construction of problem-solving systems used for robot planning, theorem proving, and automatic program synthesis and verification. Thus it provides many useful programming aids. More importantly, however, it provides a semantic framework for common sense reasoning about these problem domains. The interpreter for the language is extraordinarily general, and is therefore an adaptable tool for developing the specialized techniques of intuitive, symbolic reasoning used by the intelligent systems.
This paper proposes a method for handling the frame problem in representing conceptual, or natural-language-type information. The method is part of a larger calculus for expressing conceptual information, called P c F-2, which is described in Sandewall (1972), and which is a modification and extension of Sandewall (1971a). When the STRIPS schema adds a fact, PLANNER would add the corresponding fact to the data base using the primitive thassert. In this context, by epistemological information we mean a notation together with a set of rules (for example, logical axioms) which describe permissible deductions.