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Logic-Based Subsumption Architecture & PERI

This document describes logic-based subsumption architecture (LSA), an AI architecture based on Rodney Brooks' subsumption architecture. The LSA uses first-order logic to describe the control of individual behavior layers. Each layer has its own processing loop and theorem prover. Layers work concurrently and asynchronously to achieve goals. The LSA is fully declarative, scalable, and extensible, making it well-suited for systems requiring high-level reasoning like PERI.

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24 views12 pages

Logic-Based Subsumption Architecture & PERI

This document describes logic-based subsumption architecture (LSA), an AI architecture based on Rodney Brooks' subsumption architecture. The LSA uses first-order logic to describe the control of individual behavior layers. Each layer has its own processing loop and theorem prover. Layers work concurrently and asynchronously to achieve goals. The LSA is fully declarative, scalable, and extensible, making it well-suited for systems requiring high-level reasoning like PERI.

Uploaded by

Summer Triangle
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Logic-Based Subsumption

Architecture & PERI

Introduction
The LSA is an AI architecture for high-level
reasoning and decision-making
Based on Rodney Brooks subsumption
architecture, where control layers are
decomposed in terms of behavior
Uses First Order Logic to describe control
of the individual layers
Uses John McCarthys circumscription
formula for nonmonotonic and
commonsense reasoning

Brooks-Style Subsumption
The standard model of a robot architecture is a
functional model, e.g. sensors perception modeling
planning task recognition motor control
Subsumption architecture is a behavioral approach,
decompose layers in terms of behaviors
Organize layers in order of increasing competence, e.g.
avoid objects < wander < explore < build maps < monitor
changes < identify objects < plan actions < reason about
object behavior
The idea of subsumption is that higher layers depend on
lower layers and can also influence their behaviors
Build up on lower layers to create more complex tasks
Layers goals can have different priorities in case of
conflicting goals

Brooks-Style Subsumption
Benefits include:
Have a working robot at the very lowest layer
Decomposition into levels of competence increases
ease of testing
Supports additivity, robustness, and high reactivity
Supports concurrency, each layer can have its own
processing loop
Because of concurrency and the layer decomposition,
layers are independent, so multiple goals can be
worked towards simultaneously

Brooks-Style Subsumption
Disadvantages
Adding layers increases hardware complexity,
so lacks scalability
Semantics of the system unclear
Not declarative, so hard to do higher level
reasoning

The next step: Logic-Based Subsumption

Logic-Based Subsumption
Layers still decomposed by behaviors
Difference is layer control expressed in FOL, so
fully declarative
Layers work concurrently and asynchronously,
so are therefore independent
Each layer has its own processing loop and its
own theorem prover
Each layer has an axiomatization describing its
inputs, outputs, goals, and the relationships
between them
A layer has 4 parts body (contains the
axiomatization), sensory and input latches,
outputs, and default assumptions

Logic-Based Subsumption
Layer structure:
(from http://www-formal.stanford.edu/eyal/lsa/)

goals

Logic-Based Subsumption

Processing Loop:
1. Collect sensory input and assert as axioms
2. At the same time, assert inputs from higher layers
as axioms
3. Try to prove the layers goal using those axioms and
the axioms of the layers body
4. If goal proved, transmit goal to lower layer (at lowest
layer, transmit to robot manipulators)

Proof depth limit used if goal cannot be proven


or proven efficiently enough
Does nonmonotonic reasoning using
circumscription to handle default assumptions

Logic-Based Subsumption
Nonmonotonic reasoning
certain conclusions can be drawn with a certain set of
premises, but if a different premise is added to that
set, the same conclusions may or may not be drawn
Models jumping to conclusions
Necessary to assert default assumptions, to deal with
conflicting goals
Achieves commonsense reasoning
When higher layers draw new conclusions, the old
ones are nonmonotonically retracted from lower
layers
Accomplished in LSA by John McCarthys
circumscription formula allows defaults and gives
semantics to the system as a whole

Logic-Based Subsumption
Advantages over Brooks-style
subsumption:
Fully declarative and described in FOL, so not
as hard to do higher level reasoning
Since layers described in FOL:
Very scalable
High applicability
Very extensible

The LSA and PERI


The LSA is good for systems that need to do high-level
reasoning and/or commonsense reasoning
Speed issues:
Use of nonmonotonic reasoning and layers being independent
keeps axiomatizations small therefore proofs small, and also fast
enough for real-time control
Proof caching can be done if certain things are proved over and
over again, can increase speed
Can add semantic attachments, such as algebraic functions, to
parts of layers to improve performance things that arent as
easily expressed as theorems
PTTP theorem prover used (in Prolog, but available in LISP as
well) theorem prover chosen must be fully automated, capable
of nonmonotonic reasoning, and capable of adding semantic
attachments
Mostly, speed and reactivity depends on the layers
axiomatizations and how the layers are decomposed

The LSA and PERI


Advantages for PERI:
Decomposition of layers in the LSA allows for multiple goals,
increased robustness, and concurrency of processes
Concurrency increases speed if wish to do many different things
simultaneously
Can build different systems of PERI simultaneously
Since at the lowest layer you have a functional robot (to some
degree), testing is easier
The LSA is extensible and can be extended to many different
applications

Disadvantages:
defining the different layers and their axiomatizations could be
difficult and require a lot of experimentation
Depending on complexity of axiomatizations and the
decomposition of layers, may lose some reactivity
How much would this change how PERI is programmed
already?

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