The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology (EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to ke...

The situation calculus is one of the most established formalisms for reasoning about action and change. In this paper we will review the basics of Reiter’s version of the situation calculus, show how knowledge and time have been addressed in this framework, and point to some of the weaknesses of the situation calculus with respect to time. We then present a modal version of the situation calcul...

A fundamental aspect of general reasoning about physical systems is qualitative reasoning about continuous processes. The situation calculus is proposed as a framework for qualitative reasoning with some desirable properties that are less evident in the traditional framework, qualitative physics. However, in order to handle qualitative reasoning about continuous properties, we extend the concur...

A narrative is a course of real events about which we might have incomplete information. Formalisms for reasoning about action may be broadly divided into those which are narrative-based, such as the Event Calculus of Kowalski and Sergot, and those which reason on the level of hypothetical sequences of actions, in particular the Situation Calculus. This paper bridges the gap between these types...

Concurrent events are treated merely by not forbidding them. Narrative is treated as a collection of situations and events and relations among them. Narrative is easier than planning, because it does not require that the effects of events be guaranteed. Prediction is harder than planning, because it requires that the actions be inferred from the motives of the actors.

We consider the problem of planning in complex domains where actions are stochastic, non-instantaneous, may occur concurrently, and time is represented explicitly. Our approach is based on the situation calculus based language Golog. Instead of general search for a sequence of actions, as in classical planning, we consider the problem of computing a deterministic, sequential program (with stoch...