KheDeLP: A Framework to Support Defeasible Logic Programming for the Khepera Robots

摘要

In this paper we present KheDeLP, a framework to support Defeasible Logic Programming (DeLP) for the Khepera robots. KheDeLP is a layered system where lower level layers allow interaction with simulated and real Khepera robots. Upper layers represent more abstract capabilities of the robots and provide a set of services which would facilitate our work in cognitive robotics. These layers hide low-level robot-computer communication and provides a high-order set of predicates to develop programs in a declarative manner. The most abstract layer in this framework provides support for knowledge repre- sentation and high-level reasoning. At this end, we use DeLP, a formalism which allows to deal with partial and potentially contradictory information. This formalism could be a valuable tool to face the coordination problems we are interesting in, where the dynamic features of the environment make this kind of information be the rule, not the exception.