{"type":"ScholarlyArticle","title":"Logic-Based Subsumption Architecture","authors":[{"name":"Eyal Amir","slug":"eyal-amir","given":"Eyal","family":"Amir","affiliation":""},{"name":"Pedrito Maynard-Reid II","slug":"pedrito-maynard-reid-ii","given":"Pedrito Maynard-Reid","family":"II","affiliation":""}],"abstract":"We describe a logic-based AI architecture based on Brook s' subsumption architecture. In this architecture, we axiomatize differe nt layers of control in First-Order Logic (FOL) and use independe nt theorem provers to derive each layer's outputs given its inputs . We implement the subsumption of lower layers by higher layers using circumscription to make assumptions in low er layers, and nonmonotonically retract them when higher layers draw new conclusions. We also give formal semantics to our approach. Finally, we describe four layers designed for the task of robot control and an experiment that empiri ca lly shows the feasibility of using fully expressive FOL theorem provers for robot control with our architecture.","doi":null,"url":"https://ijcai.org/proceedings/1999/22","pdf":"https://ijcai.org/proceedings/1999/0022.pdf","markdown":"https://ijcai.org/proceedings/1999/22.md","bibtex":"https://ijcai.org/proceedings/1999/bibtex/22","volume":{"slug":"1999","title":"Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1999","url":"https://ijcai.org/proceedings/1999/","year":1999,"location":"Stockholm, Sweden","dates":"","editors":"Thomas Dean","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Automated Reasoning","track":"Automated Reasoning","number":22,"pages":{"first":147,"last":151},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}