Motion Planning for Dynamic Systems Using First-Order Logic
The problem of motion planning for a class of dynamic systems is considered in this study. A knowledge-based approach is used to determine the initial conditions that will yield a certain desired state of the dynamic system. The search space is limited by using a set of rules because reasoning about dynamic systems is basically searching an infinite space. In this study, first-order logic is used for knowledge representation and reasoning. The methodology is applied to playing a pool game. The dynamics of the motion of the balls are complicated and significant expertise is required to know how to strike the balls. Simulated results presented show how the rules help in finding the appropriate strategies for playing the game.
L. Yan and K. Krishnamurthy, "Motion Planning for Dynamic Systems Using First-Order Logic," Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Dynamic Systems and Control (2002, New Orleans, LA), vol. 132, pp. 289-295, American Society of Mechanical Engineers (ASME), Nov 2002.
The definitive version is available at http://dx.doi.org/10.1115/IMECE2002-33465
ASME 2002 International Mechanical Engineering Congress and Exposition, Dynamic Systems and Control (2002: Nov. 17-22, New Orleans, LA)
Mechanical and Aerospace Engineering
Keywords and Phrases
Dynamical systems; Formal logic; Knowledge based systems; Knowledge representation; Lakes; Mechanical engineering; Motion planning; Dynamic Systems; First order logic; Initial conditions; Know-how; Knowledge representation and reasoning; Knowledge-based approach; Pool games; Search spaces; Set of rules; Simulated results; Dynamics
International Standard Book Number (ISBN)
Article - Conference proceedings
© 2002 American Society of Mechanical Engineers (ASME), All rights reserved.