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Situation Calculus

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12 views18 pages

Situation Calculus

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raghadsad2001
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KR&R

Situation Calculus
Second-Order Logic (SOL)

 In FOL we quantify over individuals, but not over properties.

 In FOL we can find the individuals of a property, but how can we


find the properties of an individual?

 E.g. Suppose a simple knowledge base (KB): father(John).


:-? father (x).
KB|= x=John

But we can’t ask


:-? X (John).
KB|= X=father
Second-Order Logic (SOL)
 SOL is extending FOL

 Variables in predicate positions (rather than only in


individual positions in FOL)

 Quantification over predicates

 As a result, SOL has more “expressive power” than FOL does.

 E.g. In FOL there is no way to say explicitly that


individuals a and b have at least a same property in
common, but in SOL we can say:

P ( P(a)  P(b) )
Second-Order Logic (SOL)

Examples:

 P P(John), “There is a property P that John is member of”

 F F(John)  ¬F(John) (principle of bivalence)

“For every property, either John has it or he doesn’t.”

 Equality in SOL can be defined by:

x=y  def P (P(x) P(y))


Situation Calculus : Overview

 The Situation Calculus is a logic formalism designed for


representing and reasoning about dynamical domains.
 McCarthy, Hayes 1969

 Reiter 1991

 In First-Order Logic, sentences are either true or false and


stay that way. Nothing is corresponding to any sort of
change.

 SitCalc represents changing scenarios as a set of SOL


formulae.
Situation Calculus :Basic Elements
 Actions that can be performed in the world

 Actions can be quantified

 Fluents that describe the state of the world

 Situations represent a history of action occurrences

 A dynamic world is modeled as progressing through a


series of situations as a result of various actions being
performed within the world

 A finite sequence of actions

 A situation is not a state, but a history


Situation Calculus

 Actions
 move(x, y): robot is moving to a new location (x, y)

 pickup(o): robot picks up an object o

 drop(o): robot drops the object o that holds


Situation Calculus

 Situations
 Initial situation S0: no actions have yet occurred
A new situation, resulting from the performance of
an action a in current situation s, is denoted using
the function symbol do(a, s).
 do(move(2, 3), S0): denotes the new situation after the
performance of action move(2, 3) in initial situation S0.
 do(pickup(Ball ), do(move(2, 3), S0))
 do(a,s) is equal to do(a’,s’)  s=s’ and a=a’
Situation Calculus
 Fluents: “properties of the world”
 Relational fluents
 Statements whose truth value may change

 They take a situation as a final argument

 is_carrying(o, s): robot is carrying object o in situation s

E.g. Suppose that the robot initially carries nothing

is_carrying(Ball, S0) : FALSE

is_carrying(Ball, do(pickup(Ball ), S0)) : TRUE


Situation Calculus

 Fluents (cont.)
 Functional fluents

 Functions that return a situation-dependent value

 They take a situation as a final argument

 location(s): returns the location (x, y) of the robot


in situation
Situation Calculus
 Action Preconditions Axioms

 Some actions may not be executable in a given


situation

 Poss(a,s): special binary predicate

 denotes the executability of action a in situation s

 Examples:

Poss(drop(o),s) is_carrying(o,s)

Poss(pickup(o),s) (z ¬is_carrying(z,s) ¬heavy(o))


Situation Calculus
 Action Effects Axioms

 Specify the effects of an action on the fluents

 Examples:

Poss(pickup(o),s) → is_carrying(o,do(pickup(o),s))

Poss(drop(o),s)  fragile(o) → broken(o,do( drop(o),s))

 Is that enough? No, because of the frame problem


Situation Calculus
 The frame problem

 How can we derive the non-effects of axioms?

 E.g. How can we derive that after picking up an


object, the robot’s location remains unchanged?

 This requires a formulae like


Poss(pickup(o),s)  location(s) = (x,y) →
location(do(pickup(o),s)) = (x,y)

 Problem: too many of such axioms, difficult to


specify all
Situation Calculus

 The solution: Successor state axioms


 Specify all the ways the value of a particular fluent can be
changed

 Poss(a,s)  γ+F(x,a,s) → F(x,do(a,s))

 Poss(a,s)  γ-F(x,a,s) → ¬F(x,do(a,s))

 γ+F describes the conditions under which action a in situation s makes


the fluent F become true in the successor situation do(a,s) .

 γ-F describes the conditions under which performing action a in


situation s makes fluent F false in the successor situation.
Situation Calculus

 Successor state axioms (cont.)


 Poss(a,s) → [F(x,do(a,s)) γ+F(x,a,s)  (F(x,s)  ¬γ-F(x,a,s))]

“Given that it is possible to perform a in s, the fluent F would be


true in the resulting situation do(a,s) iff performing a in s would
make it true, or it is true in s and performing a in s would not
make it false. ”

 Example:
Poss(a,s) → [broken(o,do(a,s)) (a=drop(o)  fragile(o))
 (broken(o,s)  a  repair(o,s))]
Situation Calculus
 Precondition Axioms
 Poss(pickup(o),s) z ¬is_carrying(z,s)  ¬heavy(o)
 Poss(putonfloor(o),s) is_carrying(o,s)
 Poss(putontable(o),s) is_carrying(o,s)

 Successor State Axioms


 is_carrying(o,do(a,s)) a=pickup(o)  (is_carrying(o,s)  a  putontable(o)  a 
putonfloor(o) )
 OnTable(o,do(a,s)) (OnTable(o,s)  a  pickup(o))  a = putontable(o)
 OnFloor(o,do(a,s)) (OnFloor(o,s)  a  pickup(o))  a = putonfloor(o)

 Initial state
 ¬is_carrying(o,S0)
 OnTable(o, S0) o=A  o=B

 proc: RemoveBlock(o) : pickup(o) ; putonfloor(o) endProc;


 proc: ClearTable : while o OnTable(o) do RemoveBlock(o) endWhile endProc;

 KB |= s Do(ClearTable, S0, s).


s=do(putonfloor(B),do(pickup(B),do(putonfloor(A),do(pickup(A), S0))))
References
 J.McCarthy and P.J.Hayes, Some Philosophical Problems from the
Standpoint of Artificial Intelligence, in Machine Intelligence 4, ed
D.Michie and B.Meltzer, Edinburgh University Press (1969)

 R. Reiter, On Specifying Database Updates, Journal of Logic Programming,


25(1):53–91, 1995.
ANY QUESTIONS?

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