Summary: Logic­Based Subsumption Architecture: Empirical Evaluation
(Status Report)
Eyal Amir and Pedrito Maynard­Reid II
Computer Science Department
Stanford University
Stanford, CA 94305
{eyal.amir,pedmayn}@cs.stanford.edu
Abstract
We describe an implementation of the Logic­
based Subsumption Architecture (LSA) [Amir and
Maynard­Reid, 1999] , an AI architecture inspired
by Brooks' subsumption architecture but based on
logic. In this architecture, layers of control are
axiomatized in First­Order Logic (FOL) and inde­
pendent theorem provers derive each layer's goals
given its inputs. Default assumptions in the lower
layers implement subsumption by higher layers.
These assumptions are nonmonotonically retracted
when higher layers draw new conclusions. We de­
scribe four layers designed for the task of robot

Source: Amir, Eyal - Department of Computer Science, University of Illinois at Urbana-Champaign

Collections: Computer Technologies and Information Sciences