The Book

• Raymond Reiter, Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press, 2001.

• Table of Contents

• Preface

• Introduction

Errata

• Section 10.4. The Prolog code for the OCTOPUS axioms on page 250 has an error in the first action precondition axiom. The negative equality literal not X = Y should immediately follow the atom clear(Y,S). This error has been corrected in the downloadable code for this program.

Downloading Code from the Book

Permission to use, copy, and modify, this software and its documentation for research purpose is hereby granted without fee, provided that the above copyright notice appears in all copies and that both the copyright notice and this permission notice appear in supporting documentation, and that the name of The University of Toronto not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. The University of Toronto makes no representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty. THE UNIVERSITY OF TORONTO DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL THE UNIVERSITY OF TORONTO BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.

• Chapter 6: Complex Actions, Procedures, and Golog.

  Section 6.3.1. A Golog Interpreter in ECLIPSE Prolog

  Section 6.3.4. The elevator control program

• Chapter 7: Time, Concurrency, and Processes.

  Section 7.4.1. The coffee delivery robot.

  Section 7.8. A Concurrent, Temporal Golog Interpreter in ECLIPSE Prolog.

  Section 7.9.8. Simulation of two balls bouncing between two walls.

• Chapter 8: Exogenous Actions, Interrupts, and Reactive Golog.

  Section 8.3. An RGolog Interpreter in ECLIPSE Prolog.

  Section 8.4.1. A reactive elevator with interactively entered exogenous actions.

  Section 8.4.2. A reactive elevator with randomly generated exogenous actions.

• Chapter 10: Planning.

  Section 10.1. The breadth-first planner wspbf(n).

  Section 10.2. Example: Planning in the Blocks World.
  
  

  Prolog clauses for a simple blocks world.
  
  
  Bad situations for a simple blocks world.

  Section 10.2.1. A blocks world problem.

  Section 10.3. Planning with concurrent actions.
  
  

  A concurrent Golog interpreter.
  
  
  A concurrent breadth-first planner.
  
  
  A blocks world with concurrent actions.

  Section 10.4.
  
  

  OCTOPUS axioms in Prolog.
  
  
  Bad situations for the OCTOPUS blocks world.

  Section 10.5. The depth-first planner wspdf(n).

  Section 10.6.1. Compiler for an open world initial database into prime implicates.

  Section 10.6.2. A regression theorem prover for an initial database of prime implicates.

  Section 10.6.3. Bad situations for an open blocks world.

  Section 10.6.5. A blocks world problem with incomplete initial situation.

• Chapter 11: Sensing and Knowledge.

  Section 11.7.9. Putting It All Together.
  
  

  A Generic Golog Interpreter for Knowledge-Based Programs with Sense Actions
  Using Provability to Implement Knowledge
  
  How to Move All the Blocks to the Table: Prolog Implementation
  

• Chapter 12: Probability and Decision Theory.

  Section 12.2.1. stGolog: Stochastic Golog.
  
  

  An stGolog interpreter.
  
  
  Probabilities for stGolog programs.
  
  
  Code for delivery robot.

  Section 12.3. Exogenous Events.
  
  

  An stGolog interpreter with exogenous transitions.
  
  
  Code for delivery robot with exogenous events.

  Section 12.4. probF to Accommodate Uncertainty in the Initial Situation.
  

  Section 12.5. Expected Value for StGolog Programs and Uncertainty in the Initial

  Situation.
  

  Section 12.5.3. Clauses for the Delivery Robot POMDP, including uncertainty in the

  initial situation.