Robot sensors are usually subject to error. Since in many practical scenarios a probabilistic error model is not available, sensor readings are often dealt with in a hard-coded, heuristic fashion. In this paper, we propose a logic to address the problem from a KR perspective. In this logic the epistemic effect of sensing actions is deferred to so-called fusion actions, which may resolve discrep...

This article gives the logical foundations for the situations as histories vari ant of the situation calculus focusing on the following items The language of the situation calculus Foundational axioms for the domain of situations Axioms for an underlying domain theory The syntax and semantics of the logic programming language GOLOG Axioms for knowledge and sensing actions Essential metatheoreti...

The state-of-the-art definitions of actual cause by Pearl and Halpern suffer from the modest expressivity of causal models. We develop a new definition of actual cause in the context of situation calculus (SC) basic action theories. As a result, we avoid the paradoxes that arise in causal models and can identify complex actual causes of conditions expressed in first-order logic. We provide a fo...

A calculus of events is presented in which domain constraints, concurrent events, and events with non-deterministic effects can be represented. The paper offers a non-monotonic solution to the frame problem for this formalism that combines two of the techniques developed for the situation calculus, namely causal and state-based minimisation. A theorem is presented which guarantees that temporal...

We consider a modified version of the situation calculus built using a two-variable fragment of the first-order logic extended with counting quantifiers. We mention several additional groups of axioms that need to be introduced to capture taxonomic reasoning. We show that the regression operator in this framework can be defined similarly to regression in the Reiter’s version of the situation ca...

An agent will generally have incomplete and possibly inaccurate knowledge about its environment. In addition, such an agent may receive erroneous information, perhaps in being misinformed about the truth of some formula. In this paper we present a general approach to reasoning about action and belief change in such a setting. An agent may carry out actions, but in some cases may inadvertently e...

In this paper, we present an approach to representing a core part of the knowledge consists of semantic information of common verbs from semantic dictionaries. We provide a meta-language as the representation framework for the rewritten knowledge of common verbs and their corresponding user tasks. The meta-language is interpreted based on transition systems, which can be realized on various for...

Most solutions to the technical frame problem in theories of actions depend on special axioms like the frame axioms, the law of inertia, or the successor state axioms. In these solutions facts about a situation are regarded and represented as properties which hold in the situation. In this article it is argued that it is often more adequate to view facts about a situation as resources which are...

We show that designing large situation calculus theories can be simplified by using object-oriented techniques and tools together with established solutions to the frame problem. Situation calculus (McCarthy & Hayes 1969) is one of the leading logical representations for action and change, but large situation calculus theories are not easy to design and maintain, nor are they flexible for exten...

> Gelfond and Lifschitz introduce a declarative language A for describing eeects of actions and describe translations of theories in this language into extended logic programs. In this paper we extend the language A and its translation to allow reasoning about the eeects of concurrent actions. The logic programming formalization of situation calculus with concurrent actions presented in the pap...