期刊名称：Department of Computer and System Sciences Antonio Ruberti Technical Reports
印刷版ISSN：2035-5750
出版年度：2010
卷号：2
期号：7
出版社：Department of Computer and System Sciences Antonio Ruberti. Sapienza, Università di Roma
摘要：In this paper we present a new framework for modelling switching tasks and adaptive, flexible behaviours for cognitive robots. The framework is constructed on a suitable extension of the Situation Calculus, the Temporal Flexible Situation Calculus (TFSC), accommodating Allen temporal intervals, multiple timelines and concurrent situations. We introduce a constructive method to define pattern rules for temporal constraint, in a language of macros. The language of macros intermediates between Situation Calculus formulae and temporal constraint Networks. The programming language for the TFSC is TFGolog, a new Golog interpreter in the Golog family languages, that models concurrent plans with flexible and adaptive behaviours with switching modes. Finally, we show an implementation of a cognitive robot performing di erent tasks while attentively exploring a rescue environment
关键词：Cognitive robotics;executive control;cognitive control;switching tasks;adaptive and flexible behaviours;Situation Calculus;action perception and change;temporal planning.
