Real-time control of attention and behavior in a logical framework
Ian Douglas Horswill · 1997
We describe a uniform technique for representing both sensory data and the attentional state of an agent using a subset of modal logic with indexicals. The resulting representation maps naturally into feed-forward parallel networks or can be implemented on stock hardware using bit-mask instructions. The representation has "circuit-semantics" (Rosenschein and Kaelbling 1986)(Nilsson 1994), but can efficiently represent propositions containing modals and unary predicates and functions. We describe an example using Kluge, a vision-based mobile robot, programmed to perform a fetch-and-deliver task. Introduction Contemporary active sensing systems generally work by performing some sort of tracking (Inoue 1993)(Brown et al. 1992)(Hager 1995)(Fairley et al. 1995)(Crisman 1992)(Lowe 1992)(Huttenlocher et al. 1992). Since it is impractical to completely analyze a stream of images (e.g. find and label all objects in each image, then match the identities of the objects between images), tracki...