Logic-based subsumption architecture

摘要

We describe a logic-based AI architecture based on Brooks' subsumption architecture. In this architecture, we axiomatize different layers of control in First-Order Logic (FOL) and use independent theorem provers to derive each layer's outputs given its inputs. We implement the subsumption of lower layers by higher layers using nonmonotonic reasoning principles. In particular, we use circumscription to make default assumptions in lower layers, and nonmonotonically retract those assumptions when higher layers draw new conclusions. We also give formal semantics to our approach. Finally, we describe layers designed for the task of robot control and a system that we have implemented that uses this architecture for the control of a Nomad 200 mobile robot.