Stefan Mitsch
André Platzer
Skip Abstract Section
Skip Supplemental Material SectionAbstract
Autonomous agents that operate as components of dynamic spatial systems are becoming increasingly popular and mainstream. Applications can be found in consumer robotics, in road, rail, and air transportation, manufacturing, and military operations. Unfortunately, the approaches to modeling and analyzing the behavior of dynamic spatial systems are just as diverse as these application domains. In this article, we discuss reasoning approaches for the medium-term control of autonomous agents in dynamic spatial systems, which requires a sufficiently detailed description of the agent’s behavior and environment but may still be conducted in a qualitative manner. We survey logic-based qualitative and hybrid modeling and commonsense reasoning approaches with respect to their features for describing and analyzing dynamic spatial systems in general, and the actions of autonomous agents operating therein in particular. We introduce a conceptual reference model, which summarizes the current understanding of the characteristics of dynamic spatial systems based on a catalog of evaluation criteria derived from the model. We assess the modeling features provided by logic-based qualitative commonsense and hybrid approaches for projection, planning, simulation, and verification of dynamic spatial systems. We provide a comparative summary of the modeling features, discuss lessons learned, and introduce a research roadmap for integrating different approaches of dynamic spatial system analysis to achieve coverage of all required features.
Supplemental Material
Available for Download
zip
mitsch.zip (2.5 MB)
Supplemental movie, appendix, image and software files for, Logic-Based Modeling Approaches for Qualitative and Hybrid Reasoning in Dynamic Spatial Systems
- J. S. Albus and A. M. Meystel. 1996. A reference model architecture for design and implementation of intelligent control in large and complex systems. J. Intell. Control Syst. 1, 1 (1996), 15--30.Google Scholar
Cross Ref
- R. J. Allan. 2010. Survey of Agent Based Modelling and Simulation Tools. Technical Report DL-TR-2010-007. Computational Science and Engineering Department, STFC Daresbury Laboratory.Google Scholar
- J. F. Allen. 1983. Maintaining knowledge about temporal intervals. Commun. ACM 26, 11 (1983), 832--843. Google ScholarDigital Library
- R. Alur. 2011. Formal verification of hybrid systems. In Proc. of the 11th Int. Conf. on Embedded Software, S. Chakraborty, A. Jerraya, S. K. Baruah, and S. Fischmeister (Eds.). ACM, 273--278. Google ScholarDigital Library
- R. Alur, C. Courcoubetis, N. Halbwachs, T. A. Henzinger, P.-H. Ho, X. Nicollin, A. Olivero, J. Sifakis, and S. Yovine. 1995. The algorithmic analysis of hybrid systems. Theor. Comput. Sci. 138, 1 (1995), 3--34. Google ScholarDigital Library
- K. R. Apt and S. Brand. 2005. Constraint-based qualitative simulation. In Proc. of the 12th Int. Symp. on Temporal Representation and Reasoning. IEEE, 26--34. Google ScholarDigital Library
- D. Arnott and G. Pervan. 2005. A critical analysis of decision support systems research. J. Inf. Technol. 20, 2 (2005), 67--87.Google ScholarCross Ref
- A. Artale and E. Franconi. 2001. A survey of temporal extensions of description logics. Ann. Math. Artif. Intell.e 30, 1--4 (2001), 171--210. Google ScholarDigital Library
- K. J. Aström and R. M. Murray. 2008. Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press. Google ScholarDigital Library
- A. Bachrach, R. He, and N. Roy. 2009. Autonomous flight in unknown indoor environments. Micro Air Vehicles 1, 4 (2009), 217--228.Google ScholarCross Ref
- J. C. M. Baeten. 2005. A brief history of process algebra. Theor. Comp. Sci. 335, 2--3 (2005), 131--146. Google ScholarDigital Library
- J. Baltes. 2000. A benchmark suite for mobile robots. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 2. IEEE, 1101--1106.Google ScholarCross Ref
- J. Barwise and J. Perry. 1983. Situations and Attitudes. MIT Press.Google Scholar
- N. Baumgartner, W. Gottesheim, S. Mitsch, W. Retschitzegger, and W. Schwinger. 2009. On optimization of predictions in ontology-driven situation awareness. In Proc. of the 3rd Int. Conf. on Knowledge Science, Engineering and Management (LNCS), D. Karagiannis and Z. Jin (Eds.), Vol. 5914. Springer, 297--309. Google ScholarDigital Library
- N. Baumgartner, W. Gottesheim, S. Mitsch, W. Retschitzegger, and W. Schwinger. 2010a. BeAware!—situation awareness, the ontology-driven way. Data and Knowledge Eng. 69, 11 (2010), 1181--1193. Google ScholarDigital Library
- N. Baumgartner, W. Gottesheim, S. Mitsch, W. Retschitzegger, and W. Schwinger. 2010b. Situation prediction nets - playing the token game for ontology-driven situation awareness. In Proc. of the 29th Int. Conf. on Conceptual Modeling (LNCS), J. Parsons, M. Saeki, P. Shoval, C. C. Woo, and Y. Wand (Eds.), Vol. 6412. Springer, 202--218. Google ScholarDigital Library
- N. Baumgartner, S. Mitsch, A. Müller, A. Salfinger, W. Retschitzegger, and W. Schwinger. 2014. A tour of BeAware: A situation awareness framework for control centers. Inf. Fusion 20 (2014), 155--173.Google ScholarCross Ref
- N. Baumgartner and W. Retschitzegger. 2006. A survey of upper ontologies for situation awareness. In Proc. of the 4th Int. Conf. on Knowledge Sharing and Collaborative Engineering. ACTA Press, 1--9.Google Scholar
- N. Baumgartner, W. Retschitzegger, and W. Schwinger. 2007. Lost in time, space, and meaning—an ontology-based approach to road traffic situation awareness. In Proc. of the 3rd Workshop on Context Awareness for Proactive Systems. University of Surrey.Google Scholar
- B. Beckert and A. Platzer. 2006. Dynamic logic with non-rigid functions: A basis for object-oriented program verification. In IJCAR (LNCS), U. Furbach and N. Shankar (Eds.), Vol. 4130. Springer, 266--280. Google ScholarDigital Library
- K. Van Belleghem, M. Denecker, and D. De Schreye. 1997. On the relation between situation calculus and event calculus. J. Log. Program. 31, 1--3 (1997), 3--37.Google ScholarCross Ref
- B. Bennett. 2004. A unifying semantics for time and events. AI 153, 1--2 (2004), 13--48. Google ScholarDigital Library
- M. Bhatt. 2009. Commonsense inference in dynamic spatial systems: Phenomenal and reasoning requirements. In Proc. of the 23rd Int. Qualitative Reasoning Workshop. University of Ljubljana, 1--6.Google Scholar
- M. Bhatt. 2010. Commonsense inference in dynamic spatial systems: Epistemological requirements. In Proc. of the 23rd Int. Florida Artificial Intelligence Research Society Conf. AAAI Press.Google Scholar
- M. Bhatt. 2012. Reasoning about Space, Actions and Change. IGI Global, Chapter 9, 284--320.Google Scholar
- M. Bhatt and G. Flanagan. 2010. Spatio-temporal abduction for scenario and narrative completion. In Proc. of the Int. Workshop on Spatio-Temporal Dynamics. IOS Press, 31--36.Google Scholar
- M. Bhatt, J. H. Lee, and C. Schultz. 2011. CLP(QS): A declarative spatial reasoning framework. In COSIT (LNCS), M. J. Egenhofer, N. A. Giudice, R. Moratz, and M. F. Worboys (Eds.), Vol. 6899. Springer, 210--230. Google ScholarDigital Library
- M. Bhatt and S. Loke. 2008. Modelling dynamic spatial systems in the situation calculus. Spatial Cognit. Comput. 8, 1 (2008), 86--130.Google ScholarCross Ref
- M. Bhatt, W. Rahayu, and G. Sterling. 2005. Qualitative simulation: Towards a situation calculus based unifying semantics for space, time and actions. In Conf. on Spatial Information Theory. Springer.Google Scholar
- T. Bittner. 2002. Judgements about spatio-temporal relations. In Proc. of the 8th Int. Conf. on Principles and Knowledge Representation and Reasoning. Morgan Kaufmann, 521--532.Google Scholar
- T. Bittner, M. Donnelly, and B. Smith. 2004. Endurants and perdurants in directly depicting ontologies. AI Commun. 17, 4 (Dec. 2004), 247--258. Google ScholarDigital Library
- L. A. Carlson-Radvansky and D. E. Irwin. 1993. Frames of reference in vision and language: Where is above? Cognition 46, 3 (1993), 223--244.Google ScholarCross Ref
- A. Casagrande and C. Piazza. 2012. Model checking on hybrid automata. In Proc. of the 15th Euromicro Conf. on Digital System Design. 493--500. Google ScholarDigital Library
- Z. Chaochen, D. Guelev, and Z. Naijun. 1999. A higher-order duration calculus. In Millenial Perspectives in Computer Science. Proc. of the 1999 Oxford-Microsoft Symposium in Honour of Professor Sir Anthony Hoare, Palgrave. Springer, 13--15.Google Scholar
- Z. Chaochen and M. R. Hansen. 2004. Duration Calculus - A Formal Approach to Real-Time Systems. Springer.Google Scholar
- Z. Chaochen, A. P. Ravn, and M. R. Hansen. 1993. An extended duration calculus for hybrid real-time systems. In Hybrid Systems, R. L. Grossman, A. Nerode, A. P. Ravn, and H. Rischel (Eds.). Springer, 36--59. Google ScholarDigital Library
- J. Choi and E. Amir. 2009. Combining motion planning with an action formalism. In Proc. of the 9th Int. Symp. on Logical Formalizations of Commonsense Reasoning, G. Lakemeyer, L. Morgenstern, and M.-A. Williams (Eds.). UTSePress (University of Technology, Sydney), 19--26.Google Scholar
- H. Choset, K. M. Lnych, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun. 2005. Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press.Google Scholar
- E. M. Clarke and E. A. Emerson. 1981. Design and synthesis of synchronization skeletons using branching-time temporal logic. In Proc. of the Logics of Programs (LNCS), D. Kozen (Ed.), Vol. 131. Springer, 52--71. Google ScholarDigital Library
- E. Clementini, P. Di Felice, and P. van Oosterom. 1993. A small set of formal topological relationships suitable for end-user interaction. In SSD (LNCS), D. J. Abel and B. C. Ooi (Eds.), Vol. 692. Springer, 277--295. Google ScholarDigital Library
- A. G. Cohn. 1997. Qualitative spatial representation and reasoning techniques. In Proc. of the 21st Annual German Conf. on Artificial Intelligence: Advances in Artificial Intelligence. Springer, 1--30. Google ScholarDigital Library
- A. G. Cohn, B. Bennett, J. M. Gooday, and N. Gotts. 1997. Qualitative spatial representation and reasoning with the region connection calculus. GeoInformatica 1, 3 (1997), 275--316. Google ScholarDigital Library
- A. G. Cohn and S. M. Hazarika. 2001. Qualitative spatial representation and reasoning: An overview. Fundamenta Informaticae 46, 1--2 (2001), 1--29. Google ScholarDigital Library
- A. G. Cohn and J. Renz. 2008. Qualitative spatial representation and reasoning. In Handbook of Knowledge Representation. Elsevier, 551--596.Google Scholar
- Z. Cui, A. G. Cohn, and D. A. Randell. 1992. Qualitative simulation based on a logical formalism of space and time. In Proc. of the 10th National Conf. on Artificial Intelligence. AAAI Press, 679--684. Google ScholarDigital Library
- DARPA Tactical Technology Office. 2012. DARPA Robotics Challenge. Broad Agency Announcement DARPA-BAA-12-39. Defense Advanced Research Projects Agenca (DARPA), Tactical Technology Office.Google Scholar
- E. Davis. 2001. Continuous shape transformation & metrics on regions. Fund. Inform. 46, 1 (2001), 31--54. Google ScholarDigital Library
- G. De Giacomo, Y. Lespérance, and F. Patrizi. 2013. Bounded epistemic situation calculus theories. In IJCAI. Google ScholarDigital Library
- H. De Jong. 2004. Qualitative simulation and related approaches for the analysis of dynamic systems. Knowl. Eng. Rev. 19, 2 (June 2004), 93--132. Google ScholarDigital Library
- B. De Schutter, W. P. M. H. Heemels, J. Lunze, and C. Prieur. 2009. Survey of modeling, analysis, and control of hybrid systems. In Handbook of Hybrid Systems Control -- Theory, Tools, Applications, J. Lunze and F. Lamnabhi-Lagarrigue (Eds.). Cambridge University Press, Chapter 2, 31--55.Google Scholar
- N. Van de Weghe, B. de Roo, Y. Qiang, M. Versichele, T. Neutens, and P. De Maeyer. 2014. The continuous spatio-temporal model (CSTM) as an exhaustive framework for multi-scale spatio-temporal analysis. Int. J. Geog. Inf. Sci. 28, 5 (2014), 1047--1060. Google ScholarDigital Library
- M. Delafontaine, A. G. Cohn, and N. Van de Weghe. 2011. Implementing a qualitative calculus to analyse moving point objects. Expert Syst. Appl. 38, 5 (2011), 5187--5196. Google ScholarDigital Library
- M. Dumas, W. M. P. van der Aalst, and A. H. M. ter Hofstede. 2005. Process-Aware Information Systems. John Wiley and Sons. Google ScholarDigital Library
- F. Dylla and M. Bhatt. 2008. Qualitative spatial scene modeling for ambient intelligence environments. In Proc. of the 1st Int. Conf. on Intelligent Robotics and Applications. Springer, 716--725. Google ScholarDigital Library
- F. Dylla and R. Moratz. 2005. Exploiting qualitative spatial neighborhoods in the situation calculus. In Proc of the 4th Int. Conf. on Spatial Cognition: Reasoning, Action, Interaction. Springer, 304--322. Google ScholarDigital Library
- F. Dylla and J. O. Wallgrün. 2007a. On generalizing orientation information in OPRAm. In Proc. of the 29th Annual German Conf. on Artificial Intelligence. Springer, 274--288. Google ScholarDigital Library
- F. Dylla and J. O. Wallgrün. 2007b. Qualitative spatial reasoning with conceptual neighborhoods for agent control. Intell. Rob. Syst. 48, 1 (2007), 55--78. Google ScholarDigital Library
- M. Egenhofer. 1989. A formal definition of binary topological relationships. In Proc. of the 3rd Int. Conf. on Foundations of Data Organization and Algorithms, Vol. 367. Springer, 457--472. Google ScholarDigital Library
- M. Egenhofer. 2009. A reference system for topological relations between compound spatial objects. In Proc. of the 3rd Int. Workshop on Semantic and Conceptual Issues in GIS. Springer, 307--316. Google ScholarDigital Library
- M. Egenhofer. 2010. The family of conceptual neighborhood graphs for region-region relations. In Proc. of the 6th Int. Conf. on Geographic Information Science. Springer, 42--55. Google ScholarDigital Library
- M. Egenhofer and K. K. Al Taha. 1992. Reasoning about gradual changes of topological relationships. In From Space to Territory: Theories and Methods of Spatio-Temporal Reasoning. Springer, 196--219. Google ScholarDigital Library
- M. Egenhofer and J. R. Herring. 1991. Categorizing Binary Topological Relationships between Regions, Lines and Points in Geographic Databases. Technical Report 7. National Center for Geographic Information and Analysis.Google Scholar
- M. Egenhofer and D. Mark. 1995. Modeling conceptual neighborhoods of topological line-region relations. J. Geog. Inf. Syst. 9, 5 (1995), 555--565.Google ScholarCross Ref
- M. Egenhofer and D. Wilmsen. 2006. Changes in topological relations when splitting and merging regions. In Proc. of the 12th Int. Symposium on Spatial Data Handling. Springer, 339--352.Google Scholar
- E. A. Emerson. 1990. Handbook of theoretical computer science. Vol. B. MIT Press, Chapter Temporal and modal logic, 995--1072. Google ScholarDigital Library
- M. R. Endsley. 2000. Theoretical Underpinnings of Situation Awareness: A Critical Review. Lawrence Erlbaum Associates, 3--33.Google Scholar
- A. Fehnker and F. Ivancic. 2004. Benchmarks for hybrid systems verification. In Proc. of the 7th Int. Workshop on Hybrid Systems: Computation and Control (LNCS), R. Alur and G. J. Pappas (Eds.), Vol. 2993. Springer, 326--341.Google Scholar
- A. Finzi and F. Pirri. 2005. Representing flexible temporal behaviors in the situation calculus. In IJCAI, L. Pack Kaelbling and A. Saffiotti (Eds.). Professional Book Center, 436--441. Google ScholarDigital Library
- M. Fitting and R. L. Mendelsohn. 1999. First-Order Modal Logic. Kluwer, Norwell, MA. Google ScholarDigital Library
- A. U. Frank. 1996. Qualitative spatial reasoning: Cardinal directions as an example. J. Geog. Inf. Sci. 10, 3 (1996), 269--290.Google ScholarCross Ref
- G. Frehse, C. Le Guernic, A. Donzé, S. Cotton, R. Ray, O. Lebeltel, R. Ripado, A. Girard, T. Dang, and O. Maler. 2011. SpaceEx: Scalable verification of hybrid systems. In CAV (LNCS), G. Gopalakrishnan and S. Qadeer (Eds.), Vol. 6806. Springer, 379--395. Google ScholarDigital Library
- C. Freksa. 1991. Conceptual neighborhood and its role in temporal and spatial reasoning. In Proc. of the Imacs Int. Workshop on Decision Support Systems and Qualitative Reasoning, M. G. Singh and L. Trave-Massuyes (Eds.). Elsevier, 181--187.Google Scholar
- C. Freksa. 1992. Temporal reasoning based on semi-intervals. AI 54, 1 (1992), 199--227. Google ScholarDigital Library
- N. Fulton, S. Mitsch, J.-D. Quesel, M. Völp, and A. Platzer. 2015. KeYmaera X: An axiomatic tactical theorem prover for hybrid systems. In CADE (LNCS), A. Felty and A. Middeldorp (Eds.). Springer.Google Scholar
- J. Funge. 1999. Representing knowledge within the situation calculus using interval-valued epistemic fluents. Reliab. Comput. 5, 1 (1999), 35--61.Google ScholarCross Ref
- C. A. Furia, D. Mandrioli, A. Morzenti, and M. Rossi. 2010. Modeling time in computing: A taxonomy and a comparative survey. Comput. Surv. 42, 2 (2010), 1--59. Google ScholarDigital Library
- A. Gabaldon and G. Lakemeyer. 2007. ESP: A logic of only-knowing, noisy sensing and acting. In AAAI. AAAI Press, 974--979. Google ScholarDigital Library
- A. Galton. 1995. Towards a qualitative theory of movement. In Proc. of the Int. Conf. on Spatial Information Theory: A Theoretical Basis for GIS. Springer, 377--396.Google ScholarCross Ref
- A. Galton. 2000. Continuous motion in discrete space. In Proc. of the 7th Int. Conf. on Principles of Knowledge Representation and Reasoning. Morgan Kaufmann, 26--37.Google Scholar
- A. Galton. 2009. Spatial and temporal knowledge representation. Earth Sci. Inf. 2, 3 (2009), 169--187.Google Scholar
- A. Galton and M. F. Worboys. 2005. Processes and events in dynamic geo-networks. In Proc. of the 1st Int. Conf. on Geospatial Semantics. Springer, 45--99. Google ScholarDigital Library
- E. Gamma, R. Helm, R. Johnson, and J. Vlissides. 1994. Design Patterns: Elements of Reusable Object-Oriented Software. Addison-Wesley. Google ScholarDigital Library
- A. Gangemi, N. Guarino, C. Masolo, A. Oltramari, and L. Schneider. 2002. Sweetening ontologies with DOLCE. In Proc. of the 13th Int. Conf. on Knowledge Engineering and Knowledge Management. Ontologies and the Semantic Web. Springer, 166--181. Google ScholarDigital Library
- R. Goebel, R. Sanfelice, and A. Teel. 2009. Hybrid dynamical systems. Control Systems 29, 2 (2009), 28--93.Google ScholarCross Ref
- R. Goyal and M. Egenhofer. 2001. Similarity of cardinal directions. In Advances in Spatial and Temporal Databases, C. Jensen, M. Schneider, B. Seeger, and V. Tsotras (Eds.). LNCS, Vol. 2121. Springer, 36--55. Google ScholarDigital Library
- P. Grenon and B. Smith. 2004. SNAP and SPAN: Towards dynamic spatial ontology. Spatial Cognit. Comput. 4, 1 (2004), 69--104.Google ScholarCross Ref
- J. F. Groote and M. A. Reniers. 2001. Algebraic Process Verification. Elsevier, Chapter 17, 1151--1208.Google Scholar
- M. R. Hansen and D. Hung. 2007. A theory of duration calculus with application. In Domain Modeling and the Duration Calculus, C. W. George, Z. Liu, and J. Woodcock (Eds.). Springer, 119--176. Google ScholarDigital Library
- D. Harel. 1979. First-Order Dynamic Logic. LNCS, Vol. 68. Springer. Google ScholarDigital Library
- B. Heath, R. Hill, and F. Ciarallo. 2009. A survey of agent-based modeling practices (January 1998 to July 2008). J. Artif. Societies Social Simul. 12, 4 (2009), 35.Google Scholar
- T. A. Henzinger. 1996. The theory of hybrid automata. In Proc. of the 11th Symposium on Logic in Computer Science. IEEE, 278--292. Google ScholarDigital Library
- T. A. Henzinger, P.-H. Ho, and H. Wong-Toi. 1997. HyTech: A model checker for hybrid systems. In Computer Aided Verification, O. Grumberg (Ed.). LNCS, Vol. 1254. Springer, 460--463. Google ScholarDigital Library
- J. Hintikka. 1962. Knowledge and Belief - An Introduction to the Logic of the Two Notions. Cornell University Press.Google Scholar
- K. Hornsby and M. Egenhofer. 1997. Qualitative representation of change. In Proc. of the 2nd Int. Conf. on Spatial Information Theory: A Theoretical Basis for GIS. Springer, 15--33. Google ScholarDigital Library
- K. Hornsby, M. Egenhofer, and P. J. Hayes. 1999. Modeling cyclic change. In Proc. of the 1st Int. Workshop on Evolution and Change in Data Management. Springer, 98--109. Google ScholarDigital Library
- J. R. James. 1987. A survey of knowledge-based systems for computer-aided control system design. In Proc. of the American Control Conference. IEEE, 2156--2161.Google Scholar
- R. F. Kelly and A. R. Pearce. 2007. Knowledge and observations in the situation calculus. In AAMAS, E. H. Durfee, M. Yokoo, M. N. Huhns, and O. Shehory (Eds.). IFAAMAS, 124. Google ScholarDigital Library
- U. Khadim. 2008. Process Algebras for Hybrid Systems: Comparison and Development. Ph.D. Dissertation. Eindhoven University of Technology.Google Scholar
- M. M. Kokar, C. J. Matheus, and K. Baclawski. 2009. Ontology-based situation awareness. Inf. Fusion 10, 1 (2009), 83--98. Google ScholarDigital Library
- S. Konur. 2013. A survey on temporal logics for specifying and verifying real-time systems. Frontiers of Computer Science (2013), 1--34. Google ScholarDigital Library
- Y. Kurata and M. J. Egenhofer. 2006. The head-body-tail intersection for spatial relations between directed line segments. In GIScience (LNCS), M. Raubal, H. J. Miller, A. U. Frank, and M. F. Goodchild (Eds.), Vol. 4197. Springer, 269--286. Google ScholarDigital Library
- Y. Kurata and M. J. Egenhofer. 2007. The 9+-intersection for topological relations between a directed line segment and a region. In BMI (CEUR Workshop Proceedings), B. Gottfried (Ed.), Vol. 296. CEUR-WS.org, 62--76.Google Scholar
- W. Kurschl, S. Mitsch, and J. Schönböck. 2009. Modeling distributed signal processing applications. In Proc. of the 6th Int. Workshop on Wearable and Implantable Body Sensor Networks, B. P. L. Lo and P. Mitcheson (Eds.). IEEE, 103--108. Google ScholarDigital Library
- G. Lakemeyer. 1996. Only knowing in the situation calculus. In KR, L. C. Aiello, J. Doyle, and S. C. Shapiro (Eds.). Morgan Kaufmann, 14--25.Google Scholar
- G. Lakemeyer and H. J. Levesque. 1998. AOL: A logic of acting, sensing, knowing, and only knowing. In KR, Anthony G. Cohn, Lenhart K. Schubert, and Stuart C. Shapiro (Eds.). Morgan Kaufmann, 316--329.Google Scholar
- G. Lakemeyer and H. J. Levesque. 2004. Situations, Si! situation terms, no!. In KR, D. Dubois, C. A. Welty, and M.-A. Williams (Eds.). AAAI Press, 516--526.Google Scholar
- I. Lee, O. Sokolsky, S. Chen, J. Hatcliff, E. Jee, B. Kim, A. L. King, M. Mullen-Fortino, S. Park, A. Roederer, and K. K. Venkatasubramanian. 2012. Challenges and research directions in medical cyber-physical systems. Proc. IEEE 100, 1 (2012), 75--90.Google ScholarCross Ref
- H. J. Levesque and G. Lakemeyer. 2008. Cognitive robotics. In Handbook of Knowledge Representation, F. van Harmelen, V. Lifschitz, and B. Porter (Eds.). Foundations of Artificial Intelligence, Vol. 3. Elsevier, 869--886.Google Scholar
- S. M. Loos, A. Platzer, and L. Nistor. 2011. Adaptive cruise control: Hybrid, distributed, and now formally verified. In FM (LNCS), M. Butler and W. Schulte (Eds.), Vol. 6664. Springer, 42--56. Google ScholarDigital Library
- C. Lutz, F. Wolter, and M. Zakharyaschev. 2008. Temporal description logics: A survey. In Proc. of the 15th Int. Symposium on Temporal Representation and Reasoning. IEEE, 3--14. Google ScholarDigital Library
- R. Madhavan, R. Lakaemper, and T. Kalmar-Nagy. 2009. Benchmarking and standardization of intelligent robotic systems. In Proc. of the 14th Int. Conf. on Advanced Robotics. IEEE, 1--7.Google Scholar
- C. J. Matheus, M. M. Kokar, and K. Baclawski. 2003. A core ontology for situation awareness. In Proc. of the 6th Int. Conf. on Information Fusion. IEEE, 545--552.Google Scholar
- C. J. Matheus, M. M. Kokar, K. Baclawski, and J. A. Letkowski. 2005. An application of semantic web technologies to situation awareness. In Proc. of the 4th Int. Semantic Web Conference. Springer, 944--958. Google ScholarDigital Library
- I. Mau, K. Hornsby, and I. D. Bishop. 2007. Modeling geospatial events and impacts through qualitative change. In Proc. of the 5th Int. Conf. on Spatial Cognition: Reasoning, Action, Interaction. Springer, 156--174. Google ScholarDigital Library
- J. McCarthy and P. J. Hayes. 1969. Some philosophical problems from the standpoint of artificial intelligence. In Machine Intelligence 4. Edinburgh University Press, 463--502.Google Scholar
- A. Miene, U. Visser, and O. Herzog. 2004. Recognition and prediction of motion situations based on a qualitative motion description. In RoboCup 2003: Robot Soccer World Cup VII. Springer, 77--88.Google Scholar
- J. Misener, M. Barnes, C.-Y. Chan, D. Cody, S. Dickey, R. Goodsell, T. Gordon, Z. W. Kim, T. Kuhn, T. Lian, D. Nelson, C. Nowakowski, K. Nubukawa, A. Sharafsaleh, S. Shladover, J. Spring, J. VanderWerf, W.-B. Zhang, L. Zhang, and K. Zhou. 2010. Cooperative Intersection Collision Avoidance System (CICAS): Signalized Left Turn Assist and Traffic Signal Adaptation. Technical Report UCB-ITS-PRR-2010-20. University of California, Berkeley.Google Scholar
- S. Mitsch, K. Ghorbal, and A. Platzer. 2013. On provably safe obstacle avoidance for autonomous robotic ground vehicles. In Robotics: Science and Systems, P. Newman, D. Fox, and D. Hsu (Eds.). TU Berlin.Google Scholar
- S. Mitsch, S. M. Loos, and A. Platzer. 2012. Towards formal verification of freeway traffic control. In ICCPS, C. Lu (Ed.). IEEE, 171--180. Google ScholarDigital Library
- S. Mitsch, G. O. Passmore, and A. Platzer. 2013. A vision of collaborative verification-driven engineering of hybrid systems. In Do-Form: Enabling Domain Experts to use Formalised Reasoning. AISB, 8--17.Google Scholar
- S. Mitsch, G. O. Passmore, and A. Platzer. 2014a. Collaborative verification-driven engineering of hybrid systems. Math. Comput. Sci. 8, 1 (2014), 71--97.Google ScholarCross Ref
- S. Mitsch and A. Platzer. 2014. ModelPlex: Verified runtime validation of verified cyber-physical system models. In Runtime Verification - 5th International Conference, RV 2014, Toronto, ON, Canada, September 22-25, 2014. Proceedings (LNCS), B. Bonakdarpour and S. A. Smolka (Eds.), Vol. 8734. Springer, 199--214.Google Scholar
- S. Mitsch, J.-D. Quesel, and A. Platzer. 2014b. Refactoring, refinement, and reasoning - A logical characterization for hybrid systems. In FM 2014: Formal Methods - 19th International Symposium, Singapore, May 12-16, 2014. Proceedings (LNCS), C. B. Jones, P. Pihlajasaari, and J. Sun (Eds.), Vol. 8442. Springer, 481--496.Google Scholar
- S. Mitsch, W. Retschitzegger, and W. Schwinger. 2011. Towards modeling dynamic behavior with integrated qualitative spatial relations. In Advances in Conceptual Modeling. Recent Developments and New Directions, O. Troyer, C. Bauzer Medeiros, R. Billen, P. Hallot, A. Simitsis, and H. Mingroot (Eds.). LNCS, Vol. 6999. Springer, 271--280. Google ScholarDigital Library
- R. Moratz, F. Dylla, and L. Frommberger. 2005. A relative orientation algebra with adjustable granularity. In Proc. of the Workshop on Agents in Real-Time and Dynamic Environments, L. P. Kaelbling and A. Saffiotti (Eds.). Professional Book Center.Google Scholar
- R. Moratz and J. O. Wallgrün. 2012. Spatial reasoning with augmented points: Extending cardinal directions with local distances. J. Spatial Inf. Sci. 5, 1 (2012), 1--30.Google Scholar
- C. Nikolai and G. Madey. 2009. Tools of the trade: A survey of various agent based modeling platforms. Artif. Soc. Social Simul. 12, 2 (2009), 2--39.Google Scholar
- I. Niles and A. Pease. 2001. Towards a standard upper ontology. In Proc. of the 2nd Int. Conf. on Formal Ontology in Information Systems. ACM, 2--9. Google ScholarDigital Library
- R. Obermaisser. 2005. Event-Triggered and Time-Triggered Control Paradigms. Springer. Google ScholarDigital Library
- A. Platzer. 2008. Differential dynamic logic for hybrid systems. J. Autom. Reasoning 41, 2 (2008), 143--189. Google ScholarDigital Library
- A. Platzer. 2010. Logical Analysis of Hybrid Systems: Proving Theorems for Complex Dynamics. Springer. Google Scholar
- A. Platzer. 2012a. A complete axiomatization of quantified differential dynamic logic for distributed hybrid systems. Logical Methods Comput. Sci. 8, 4 (2012), 1--44.Google ScholarCross Ref
- A. Platzer. 2012b. Logics of dynamical systems. In Proc. of the 27th Symposium on Logic in Computer Science, N. Dershowitz (Ed.). IEEE, 13--24. Google ScholarDigital Library
- A. Platzer and J.-D. Quesel. 2008. KeYmaera: A hybrid theorem prover for hybrid systems.. In Proc. of the 4th Int. Joint Conf. on Automated Reasoning. Springer, 171--178. Google ScholarDigital Library
- A. Platzer and J.-D. Quesel. 2009. European train control system: A case study in formal verification. In Proc. of the 11th Int. Conf. on Formal Engineering Methods (ICFEM) (LNCS), K. Breitman and A. Cavalcanti (Eds.), Vol. 5885. Springer, Rio de Janeiro, Brasil, 246--265. Google ScholarDigital Library
- A. Pnueli. 1977. The temporal logic of programs. In Proc. of the 18th Annual Symposium on Foundations of Computer Science. IEEE, 46--57. Google ScholarDigital Library
- V. R. Pratt. 1976. Semantical considerations on Floyd-Hoare logic. In 17th Annual Symposium on Foundations of Computer Science, Houston, Texas, USA, 25-27 October 1976. IEEE Computer Society, 109--121. Google ScholarDigital Library
- A. Prior. 1957. Time and Modality. Oxford University Press.Google Scholar
- J.-D. Quesel, S. Mitsch, S. Loos, N. Aréchiga, and A. Platzer. 2015. How to model and prove hybrid systems with KeYmaera: A tutorial on safety. STTT (2015).Google Scholar
- M. Ragni and S. Wölfl. 2005. Temporalizing spatial calculi: On generalized neighborhood graphs. In Proc. of the 28th Annual German Conf. on Artificial Intelligence. Springer, 64--78. Google ScholarDigital Library
- M. Ragni and S. Wölfl. 2006. Temporalizing cardinal directions: From constraint satisfaction to planning. In Proc. of the 10th Int. Conf. on Principles of Knowledge Rep. and Reasoning. AAAI, 472--480.Google Scholar
- M. Ragni and S. Wölfl. 2008. Reasoning about topological and positional information in dynamic settings. In Proc. of the 21st Int. Florida Artificial Intelligence Research Society Conf. AAAI, 606--611.Google Scholar
- D. A. Randell, Z. Cui, and A. G. Cohn. 1992. A spatial logic based on regions and connection. In Proc. of the 3rd Int. Conf. on Knowledge Rep. and Reasoning. Morgan Kaufmann, 165--176.Google Scholar
- S. Ratschan and Z. She. 2007. Safety verification of hybrid systems by constraint propagation based abstraction refinement. ACM Trans. Embedded Comput. Syst. 6, 1 (2007), 1--23. Google ScholarDigital Library
- R. Reis, M. Egenhofer, and J. Matos. 2008. Conceptual neighborhoods of topological relations between lines. In 13th Int. Symp. on Spatial Data Handling, A. Ruas and C. Gold (Eds.). Springer, 557--574.Google Scholar
- R. Reiter. 2001. Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press. Google ScholarDigital Library
- S. Rosenthal, J. Biswas, and M. M. Veloso. 2010. An effective personal mobile robot agent through symbiotic human-robot interaction. In Proc. of the 9th Int. Conf. on Autonomous Agents and Multiagent Systems, W. van der Hoek, G. A. Kaminka, Y. Lespérance, M. Luck, and S. Sen (Eds.). IFAAMAS, 915--922. Google ScholarDigital Library
- I. Ruchkin, B. R. Schmerl, and D. Garlan. 2015. Architectural abstractions for hybrid programs. In Proceedings of the 18th International ACM SIGSOFT Symposium on Component-Based Software Engineering, CBSE 2015, P. Kruchten, S. Becker, and J.-G. Schneider (Eds.). ACM, 65--74. Google ScholarDigital Library
- S. J. Russell and P. Norvig. 2003. Artificial Intelligence — A Modern Approach (2nd ed.). Pearson Education. Google ScholarDigital Library
- E. Sandewall. 1994. Features and Fluents: The Representation of Knowledge About Dynamical Systems. Oxford University Press. Google ScholarDigital Library
- A. Schäfer. 2006. Specification and Verification of Mobile Real-Time Systems. Ph.D. Dissertation. Universität Oldenburg.Google Scholar
- R. B. Scherl and H. J. Levesque. 1993. The frame problem and knowledge-producing actions. In AAAI, R. Fikes and W. G. Lehnert (Eds.). AAAI Press/The MIT Press, 689--695. Google ScholarDigital Library
- R. B. Scherl, T. C. Son, and C. Baral. 2009. State-based regression with sensing and knowledge. Int. J. Software Inf. 3, 1 (2009), 3--30.Google Scholar
- C. Schultz and M. Bhatt. 2012. Towards a declarative spatial reasoning system. In ECAI (Frontiers in Artificial Intelligence and Applications), L. De Raedt, C. Bessière, D. Dubois, P. Doherty, P. Frasconi, F. Heintz, and P. J. F. Lucas (Eds.), Vol. 242. IOS Press, 925--926.Google Scholar
- A. Serenko and B. Detlor. 2003. Agent toolkit satisfaction and use in higher education. J. Comput. Higher Educ. 15 (2003), 65--88. Issue 1.Google ScholarCross Ref
- M. Shanahan. 1997a. Event calculus planning revisited. In Proc. of the 4th European Conf. on Planning (LNCS), S. Steel and R. Alami (Eds.), Vol. 1348. Springer, 390--402. Google ScholarDigital Library
- M. Shanahan. 1997b. Solving the Frame Problem—A Mathematical Investigation of the Common Sense Law of Inertia. MIT Press. Google ScholarDigital Library
- M. Shanahan. 2000. An abductive event calculus planner. J. Logic Program. 44, 1--3 (2000), 207--240.Google ScholarCross Ref
- P. Simons and J. Melia. 2000. Continuants and occurrents. Aristotelian Society Supplementary Volume 74, 1 (2000), 59--75.Google ScholarCross Ref
- B. Smith and P. Grenon. 2004. The cornucopia of formal-ontological relations. Dialectica 58, 3 (2004), 279--296.Google ScholarCross Ref
- J. F. Sowa. 2000. Knowledge Representation—Logical, Philosophical, and Comp. Foundations. Brooks/Cole. Google ScholarDigital Library
- R. Stewart, N. A. Stanton, D. Harris, C. Baber, P. Salmon, M. Mock, K. Tatlock, L. Wells, and A. Kay. 2008. Distributed situation awareness in an airborne warning and control system: Application of novel ergonomics methodology. Cognition, Technology & Work 10, 3 (1 July 2008), 221--229. Google ScholarDigital Library
- M. Thielscher. 1999. From situation calculus to fluent calculus: State update axioms as a solution to the inferential frame problem. Artif. Intel. 111, 1--2 (1999), 277--299. Google ScholarDigital Library
- M. Thielscher. 2005. FLUX: A logic programming method for reasoning agents. Theory Pract. Log. Program. 5, 4-5 (July 2005), 533--565. Google ScholarDigital Library
- M. Thielscher. 2011. A unifying action calculus. Artif. Intell. 175, 1 (03 Jan. 2011), 120--141. Google ScholarDigital Library
- C. Urmson, J. Anhalt, D. Bagnell, C. Baker, R. Bittner, M. N. Clark, J. Dolan, et al. 2008. Autonomous driving in urban env.: Boss and the urban challenge. J. Field Robot. 25, 8 (2008), 425--466. Google ScholarDigital Library
- N. van de Weghe, A. G. Cohn, P. De Maeyer, and F. Witlox. 2005. Representing moving objects in computer-based expert systems: The overtake event example. Expert Syst. App. 29, 4 (2005), 977--983. Google ScholarDigital Library
- G. H. Von Wright. 1951. An Essay on Modal Logic. North-Holland.Google Scholar
- M. F. Worboys. 2001. Modelling Changes and Events in Dynamic Spatial Systems with Reference to Socio-economic Units. Vol. 8. Taylor and Francis, 129--138.Google Scholar
- M. F. Worboys. 2005. Event-oriented approaches to geographic phenomena. Geog. Inf. Sci. 19, 1 (2005), 1--28.Google ScholarCross Ref
- M. F. Worboys and K. Hornsby. 2004. From objects to events: GEM, the geospatial event model. In Proc. of the 3rd Int. Conf. on Geographic Information Science. Springer, 327--343.Google Scholar
Index Terms
- Logic-Based Modeling Approaches for Qualitative and Hybrid Reasoning in Dynamic Spatial Systems
Recommendations
A Strategy of Dynamic Reasoning in Knowledge-Based System with Fuzzy Production Rules
Fuzzy production rules have been successfully applied to represent uncertainty in a knowledge-based system. The knowledge organized as a knowledge base is static. On the other hand, a real system such as the stock market is dynamic in nature. Therefore ...
Spatial Representation and Reasoning About Fold Strata: A Qualitative Approach
Agents and Artificial IntelligenceAbstractThis paper proposes the method that handles strata based on qualitative spatial reasoning. We make a model for typical fold structure projected onto a two-dimensional plane, extracted by a rectangle. We give a symbolic representation to the model ...
Qualitative spatial reasoning: extracting and reasoning with spatial aggregates
Reasoning about spatial data is a key task in many applications, including geographic information systems, meteorological and fluid-flow analysis, computer-aided design, and protein structure databases. Such applications often require the identification ...
Comments