The application of logic programming to the generation of plans for robots

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Abstract
The previous paper by the same authors (Robotica 2, Part 2, pp. 93–103 1984) was concerned with the application of logic programming to the generation of paths for robots. This paper is dealing with the PIGS system for robot problem-solving in generating plans for robots. The system avoids the overhead of generating a new set of facts for each state considered. A computer-type control is adopted not only to generate a simple sequence of actions to be performed by the robot, but also to enable the robot to follow an accurately defined path. A suitable plan of action of a robot problem-solving system is generated. The system is written in the PROLOG language and acts as a robot plan generator that is integrated with a path finding procedure in order to avoid collisions whilst plans are being implemented.