Description and Theoretical Analysis (Using Schemata) of Planner: A Language for Proving Theorems and Manipulating Models in a Robot

TLDR

PLANNER is a formalism for proving theorems and manipulating models in a robot. PLANNER is built from problem‑solving primitives and a hierarchical multiprocess backtrack control structure that allows statements to be asserted or withdrawn, maintains a hierarchy of function activations for reverting to prior states, and supports multiple loci of control. Programs can easily manipulate elaborate hypothetical tentative states.

Abstract

Abstract : PLANNER is a formalism for proving theorems and manipulating models in a robot. The formalism is built out of a number of problem-solving primitives together with a hierarchical multiprocess backtrack control structure. Statements can be asserted and perhaps later withdrawn as the state of the world changes. Under BACKTRACK control structure, the hierarchy of activations of functions previously executed is maintained so that it is possible to revert to any previous state. Thus programs can easily manipulate elaborate hypothetical tentative states. In addition PLANNER uses multiprocessing so that there can be multiple loci of control over the problem-solving.