Propositional Logic Applied To Execution Control

Abstract

In the context of mobile robot appli- cations for safety surveillance and intervention, we present an execution control approach based on the use of automated deduction. The task, split into prirn- itiue actions, is described by a graph in a proposi- tional logic which links the primitive actions together. Propositions and their connections are weighted by confidence, and updated by action executions. A re- active control of the task execution is achieved by an efficient algorithm, which is discussed and presented in detail, both formally and on a running example.