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Sba: Controle & Automação Sociedade Brasileira de Automatica
Print version ISSN 0103-1759
TREVIZAN, Felipe Werndl and BARROS, Leliane Nunes de. Robótica cognitiva: programação baseada em lógica para controle de robôs. Sba Controle & Automação [online]. 2007, vol.18, n.2, pp. 187-198. ISSN 0103-1759. http://dx.doi.org/10.1590/S0103-17592007000200005.
The goal of the Cognitive Robotics research area is to develop robotic agents capable of high-level functions by using a programming language, based on logics, to describe the robot control program. Besides, such a language can be used to prove properties of the world and to simulate the robot behavior by running its program. This paper shows how a Lego® MindStorms™ robot can be used to implement a software agent capable of performing high level functions specified in IndiGolog - a logical language to write robot control programs, based on Situation Calculus. The application domain example is the classical problem of the Wumpus World for which the construction of a complete intelligent agent requires the integration of several Artificial Intelligence techniques, such as: reactive planning; hierarquical and goal achievement planning; plan execution; reasoning with incomplete information; generation and discrimination of hypotheses about the world state; and belief changes.
Keywords : Planning; on-line planning; Golog; Legolog; Situation Calculus; Lego® MindStorms™.