TY - JOUR
T1 - On the knowledge requirements of tasks
AU - Brafman, Ronen I.
AU - Halpern, Joseph Y.
AU - Shoham, Yoav
N1 - Funding Information:
We are grateful to Bruce Donald for numerous insightful discussions, comments,a nd suggestions, and to Nir Friedman for comments on previous drafts. This work was partially supportedb y AFOSR and NSF grants AF F49620-92-J-0547 and IRI-9220645, IRIS project IC-7 and NSERC grants OGP0044121 and A9281.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - In order to successfully perform a task, a situated system requires some information about its domain. If we can understand what information the system requires, we may be able to equip it with more suitable sensors or make better use of the information available to it. These considerations have motivated roboticists to examine the issue of sensor design, and in particular, the minimal information required to perform a task. We show here that reasoning in terms of what the robot knows and needs to know to perform a task is a useful approach for analyzing these issues. We extend the formal framework for reasoning about knowledge, already used in AI and distributed computing, by developing a set of basic concepts and tools for modeling and analyzing the knowledge requirements of tasks. We investigate properties of the resulting framework, and show how it can be applied to robotics tasks.
AB - In order to successfully perform a task, a situated system requires some information about its domain. If we can understand what information the system requires, we may be able to equip it with more suitable sensors or make better use of the information available to it. These considerations have motivated roboticists to examine the issue of sensor design, and in particular, the minimal information required to perform a task. We show here that reasoning in terms of what the robot knows and needs to know to perform a task is a useful approach for analyzing these issues. We extend the formal framework for reasoning about knowledge, already used in AI and distributed computing, by developing a set of basic concepts and tools for modeling and analyzing the knowledge requirements of tasks. We investigate properties of the resulting framework, and show how it can be applied to robotics tasks.
KW - (Skeletal) knowledge-based programs
KW - Configuration space
KW - Knowledge
KW - Knowledge capability
KW - Knowledge complexity
KW - Manipulation tasks
KW - Sensor design
UR - http://www.scopus.com/inward/record.url?scp=0031699057&partnerID=8YFLogxK
U2 - 10.1016/s0004-3702(97)00061-1
DO - 10.1016/s0004-3702(97)00061-1
M3 - Article
AN - SCOPUS:0031699057
SN - 0004-3702
VL - 98
SP - 317
EP - 349
JO - Artificial Intelligence
JF - Artificial Intelligence
IS - 1-2
ER -