Robot Controllers for Highly Dynamic Environments with Real-time Constraints

摘要

In this extended abstract we describe the robot programming and planning language READYLOG, a GOLOG dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of READYLOG, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in READY-LOG for our soccer robots in RoboCup's Middle-size league, but also for service robots and for autonomous agents in interactive computer games.