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Abstract
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 discrepancies and inconsistencies of recent sensing results. Moreover, a local closed-world assumption can be applied dynamically. When needed, this assumption can be revoked and fusions can be undone using a form of forgetting.
Acknowledgement
We thank the referees for their insightful comments.
Notes
No potential conflict of interest was reported by the author.
1 In this paper we use the terms knowledge and belief interchangeably.
2 The fusion formula is part of the model for technical reasons. Unlike
(Lakemeyer & Levesque , Citation2011) and the Scherl–Levesque (Scherl & Levesque , Citation2003) framework, we cannot use a single predicate and thus keep
in the theory, because truth of
usually does not depend on a single world but also on the sensing history, which is subject to change over the course of action and in introspective contexts.
3 z is the semantic counterpart of the situation terms in the classical situation calculus (Reiter , Citation2001).
4 uses a relation
for a similar purpose.
5 We abuse notation and do not distinguish finite sets of sentences from conjunctions.