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- W2381066916 abstract "Mobile robots of the Third Generation deal ever more with symbolic information. Furthermore, the concept of planetary rovers with their concomitant delays in telecommunications let alone the problems of bandwidth requires that these mobile robots be especially autonomous. These two concepts of treating symbolic information on-board and increased robot autonomy imply that the requirements of on-board machine intelligence will be increasingly demanding.We believe that rule-based systems can answer this demand. For this will be needed general rule-based systems which may work offline at an operator station. In addition, efficient yet reasonably general rule-based systems will be required on-board the mobile robot.To this end our work concerns itself with the Production System (PS) form of rule-based systems. PSs are an important and agreeable form of rule-based programming. But the formalism normally involves a complex and costly pattern matching operation. We present PS0, a fully general PS language that is reasonably efficient. PS0 permits arbitrary segments in non-recursive list structure. A segment variable may match an arbitrary amount of linear list structure. PS0 includes a fully backtracking pattern matcher that tracks back efficiently.Furthermore, we restrict this language, PS1, to allow single segments in pattern lists, patterns containing arbitrary list structure, position variables, and evaluable expressions. We present a PS compiler that minimizes this matching cost by explicitly separating the Discrimination Tree for rule conditions and the join network for rule partial instantiations. The novelty of our approach is that each of these structures may be optimized independently! We propose a relaxed condition discrimination tree which allows both OR and AND branches providing more reasonable condition determination than previous systems. A comparison with OPS and TREAT shows the advantages of the current approach. PS1 permits the direct representation of stacks, queues, and deques in rule elements, which are much more costly to implement with the other rule compilers." @default.
- W2381066916 created "2016-06-24" @default.
- W2381066916 creator A5053781096 @default.
- W2381066916 date "1992-01-01" @default.
- W2381066916 modified "2023-09-23" @default.
- W2381066916 title "Rule compilation and decisional processes for mobile robots" @default.
- W2381066916 hasPublicationYear "1992" @default.
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