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.

Meeting Name

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)


Document Type

Article - Conference proceedings

Document Version


File Type





© 2002 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Nov 2002