Abstract
When it comes to buildingrob ot controllers, high-level programming arises as a feasible alternative to planning. The task then is to verify a high-level program by finding a legal execution of it. However, interleaving offline verification with execution in the world seems to be the most practical approach for large programs and complex scenarios involvinginformation gatheringand exogenous events.In this paper, we present a mechanism for performing local lookahead for the Golog family of high-level robot programs. The main features of such mechanism are that it takes sensing seriously by constructing conditional plans that are ready to be executed in the world, and it mixes perfectly with an account of interleaved perception, planning, and action. Also, a simple implementation is developed.KeywordsPrimitive ActionSituation CalculusLogic Programming LanguageBranch ActionBoard PlaneThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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