Objetivo We propose to augment intuitionistic linear with two new connectives to incorporate constraints drawn from a possibly continuous domain into linear logic expressions. The resulting formal language is called Constrained Intuitionistic Linear Logic (CIL L). Our ultimate goal is to capture physical properties of dynamically dexterous robotic systems within such a constraint domain while reasoning with changing state information through the representational strength of linear logic.The resulting integration of linear, discrete reasoning with an encapsulation of dynamic properties of a system will be used to achieve behavioural planning of a fast, autonomous legged robot in complex outdoor environments. To this end, we will first formulate physically relevant semantics for CILL and prove the completeness and soundness of an associated proof theory. We will then adapt a number of existing solvers for real number and set constraints to adequately capture expressions that may arise from behavioural sequencing for dynamical systems. Finally, we will use the resulting language to encode behavioural sequencing problems for a legged robot and experimentally verify their relevance and correctness. Ámbito científico ciencias naturalesmatemáticasmatemáticas purasmatemáticas discretaslógica matemáticaciencias naturalesmatemáticasmatemáticas aplicadassistemas dinámicosingeniería y tecnologíaingeniería eléctrica, ingeniería electrónica, ingeniería de la informacióningeniería electrónicarobóticarobots autónomos Palabras clave behavioral planning dynamically dexterous legged robots linear logic sequential composition Programa(s) FP6-MOBILITY - Human resources and Mobility in the specific programme for research, technological development and demonstration "Structuring the European Research Area" under the Sixth Framework Programme 2002-2006 Tema(s) MOBILITY-4.2 - Marie Curie International Reintegration Grants (IRG) Convocatoria de propuestas FP6-2004-MOBILITY-12 Consulte otros proyectos de esta convocatoria Régimen de financiación IRG - Marie Curie actions-International re-integration grants Coordinador BILKENT UNIVERSITESI Dirección Eskisehir yolu 8.km. bilkent Ankara Turquía Ver en el mapa Enlaces Sitio web Opens in new window Aportación de la UE Sin datos
