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Integrating Action and Reasoning through Simulation

Samuel Wintermute

Published 2009 in Unknown venue

ABSTRACT

This paper presents an approach for integrating action in the world with general symbolic reasoning. Instead of working with task-specific symbolic abstractions of continuous space, our system mediates action through a simple spatial representation. Low-level action controllers work in the context of this representation, and a high-level symbolic system has access to it. By allowing actions to be spatially simulated, general reasoning about action is possible. Only very simple task-independent symbolic abstractions of space are necessary, and controllers can be used without the need for symbolic characterization of their behavior. We draw parallels between this system and a modern robotic motion planning algorithm, RRT. This algorithm is instantiated in our system, and serves as a case study showing how the architecture can effectively address real robotics problems.

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