Planning with incomplete knowledge becomes a very active research area since late 1990s. Many logical formalisms introduce sensing actions and conditional plans to address the problem. The action language $\mathcal{A}_{K}$ invented by Son and Baral is a well-known framework for this purpose. In this paper, we propose so-called cautious and weakly cautious semantics for $\mathcal{A}_{K}$ , in order to allow an agent to generate and execute reliable plans in safety-critical environments. Intuitively speaking, cautious and weakly cautious semantics enable the agent (...) to know exactly what happens after the execution of an action. Computational complexity analysis shows that cautious semantics reduces the reasoning complexity of $\mathcal{A}_{K}$ , it is also worth to point out that many useful domains could still be expressed with this setting. Another important contribution of our work is the development of Hoare style proof systems. These proof systems are served as inference mechanisms for the verification of conditional plans, and proved to be sound and complete. In addition, they could also be used for plan generation, in the sense that constructing a derivation is indeed a procedure to finding a plan. We point out that the proof systems posses a nice property for off-line planning, that is, the agent could generate and store short proofs in her spare time, and perform quick plan query by easily constructing a long proof from the stored shorter ones (under the assumption that sufficient proofs are stored). (shrink)

We investigate agents that have incomplete information and make decisions based on their beliefs expressed as situation calculus bounded action theories. Such theories have an infinite object domain, but the number of objects that belong to fluents at each time point is bounded by a given constant. Recently, it has been shown that verifying temporal properties over such theories is decidable. We take a first-person view and use the theory to capture what the agent believes about the domain of interest (...) and the actions affecting it. In this paper, we study verification of temporal properties over online executions. These are executions resulting from agents performing only actions that are feasible according to their beliefs. To do so, we first examine progression, which captures belief state update resulting from actions in the situation calculus. We show that, for bounded action theories, progression, and hence belief states, can always be represented as a bounded first-order logic theory. Then, based on this result, we prove decidability of temporal verification over online executions for bounded action theories. (shrink)

A central problem in applying logical knowledge representation formalisms to traditional robotics is that the treatment of belief change is categorical in the former, while probabilistic in the latter. A typical example is the fundamental capability of localization where a robot uses its noisy sensors to situate itself in a dynamic world. Domain designers are then left with the rather unfortunate task of abstracting probabilistic sensors in terms of categorical ones, or more drastically, completely abandoning the inner workings of sensors (...) to black-box probabilistic tools and then interpreting their outputs in an abstract way. Building on a first-principles approach by Bacchus, Halpern and Levesque, and a recent continuous extension to it by Belle and Levesque, we provide an axiomatization that shows how localization can be realized wrt a basic action theory, thereby demonstrating how such capabilities can be enabled in a single logical framework. We then show how the framework can also enable localization for multiple agents, where an agent can appeal to the sensing already performed by another agent and the knowledge of their relative positions to localize itself. (shrink)