Self-Maintenance for Autonomous Robots in the Situation Calculus

Knowledge-Based Systems GroupRWTH Aachen UniversityAachen, Germanyandreas.wortmann@gmail.com(schiffer,gerhard)@cs.rwth-aachen.deAbstract. In order to make a robot execute a given task plan morerobustly we want to enable it to take care of its self-maintenance re-quirements during online execution of this program. This requires therobot to know about the (internal) states of its components, constraintsthat restrict execution of certain actions and possibly also how to recoverfrom faulty situations. The general idea is to implement a transforma-tion process on the plans, which are specified in the agent programminglanguage ReadyLog, to be performed based on explicit (temporal) con-straints. Afterwards, a ’guarded’ execution of the transformed programshould result in more robust behavior.