---
title: "On-Line Execution of cc-Golog Plans"
authors:
  - "Henrik Grosskreutz"
  - "Gerhard Lakemeyer"
doi: ""
url: "https://ijcai.org/proceedings/2001/2"
pdf: "https://ijcai.org/proceedings/2001/0002.pdf"
venue: "Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence"
year: 2001
pages: "12-17"
track: ""
keywords:
---

# On-Line Execution of cc-Golog Plans

Henrik Grosskreutz, Gerhard Lakemeyer

*Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence*, pages 12-17.

## Abstract

Previously, the plan language cc-Golog was introduced for the purpose of specifying event-driven behavior typically found in robot controllers. So far, however, cc-Golog is usable only for projecting the outcome of a plan and it is unclear how to actually execute plans on-line on a robot. In this paper, we provide such an execution model for ccGolog and, in addition, show how to interleave execution with a new kind of time-bounded projection. Along the way we also demonstrate how a typical robot control architecture where a high-level controller communicates with low-level processes via messages can be directly modelled in cc-Golog.