Noise, Non-Determinism and Spatial Uncertainty

Abstract

This paper presents a logical account of sensor data assimilation in a mobile robot, based on abduction. Unlike previous work, the present formulation handles sensor noise as well as motor noise. In addition, it incorporates two significant technical advances. The use of determining fluents to deal with non-determinism obviates the need for a special form of abduction, and the use of uncertain object boundaries alleviates a problem with multiple explanations. Introduction In [Shanahan, 1996], a logical characterisation of robot sensor data assimilation via abduction is presented. The methodology used in that paper, as well as the present work, comprises the following three steps. First, design a generic logical formalism for representing and reasoning about action, change, space and shape. Second, use this formalism to build a theory of the robot's relationship to the world, that is to say, a theory describing the effect of the robot's actions on the world and the impact of the world ...