Abstracting Noisy Robot Programs

• URL: http://arxiv.org/abs/2204.03536v1
• Date: Thu, 7 Apr 2022 16:04:19 GMT
• Title: Abstracting Noisy Robot Programs
• Authors: Till Hofmann, Vaishak Belle
• Abstract summary: We describe an approach to abstraction of probabilistic and dynamic systems. Based on a variant of the situation calculus with probabilistic belief, we define a notion of bisimulation. We obtain abstract Golog programs that omit unnecessary details and which can be translated back to a detailed program for actual execution.
• Score: 17.04153879817609
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation calculus has focused on non-probabilistic domains, we describe an approach to abstraction of probabilistic and dynamic systems. Based on a variant of the situation calculus with probabilistic belief, we define a notion of bisimulation that allows to abstract a detailed probabilistic basic action theory with noisy actuators and sensors by a possibly deterministic basic action theory. By doing so, we obtain abstract Golog programs that omit unnecessary details and which can be translated back to a detailed program for actual execution. This simplifies the implementation of noisy robot programs, opens up the possibility of using deterministic reasoning methods (e.g., planning) on probabilistic problems, and provides domain descriptions that are more easily understandable and explainable.

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