This repo contains various interpreters for the Golog high-level agent programming language, as developed in the Cognitive Robotics Group at University of Toronto and reported in the following book:
- Raymond Reiter, Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press, 2001.
The code here has been ported to SWI-Prolog.
File golog.pl contains the vanilla Golog as per the book but ported to SWI-Prolog.
To test the interpreter, we can run it on the simple elevator example as follows:
$ swipl golog.pl simple_elevator.pl
Welcome to SWI-Prolog (threaded, 64 bits, version 9.2.5)
SWI-Prolog comes with ABSOLUTELY NO WARRANTY. This is free software.
Please run ?- license. for legal details.
For online help and background, visit https://www.swi-prolog.org
For built-in help, use ?- help(Topic). or ?- apropos(Word).
?- do(control, s0, S).
S = do(open, do(down(0), do(close, do(open, do(turnoff(5), do(up(5), do(close, do(open, do(turnoff(...), do(..., ...)))))))))) [write]
S = do(open, do(down(0), do(close, do(open, do(turnoff(5), do(up(5), do(close, do(open, do(turnoff(3), do(down(3), s0)))))))))) ;
S = do(open, do(down(0), do(close, do(open, do(turnoff(3), do(down(3), do(close, do(open, do(turnoff(5), do(up(5), s0)))))))))) ;
S = do(open, do(down(0), do(close, do(open, do(turnoff(5), do(up(5), do(close, do(open, do(turnoff(3), do(down(3), s0)))))))))) ;
S = do(open, do(down(0), do(close, do(open, do(turnoff(3), do(down(3), do(close, do(open, do(turnoff(5), do(up(5), s0)))))))))) ;
false.This extends the standard Golog with time, and combines the sequential (Section 7.4) and concurrent (Section 7.8) into a single interpreter (which in turn is an execution of the one for Golog). The combined interpreter extension is in file golog_temporal.pl.
A run of the Coffee Delivery example described in Section 7.4.1 for sequential temporal execution is as follows:
$ swipl golog_temporal.pl two_balls.pl
Welcome to SWI-Prolog (threaded, 64 bits, version 9.2.5)
SWI-Prolog comes with ABSOLUTELY NO WARRANTY. This is free software.
Please run ?- license. for legal details.
For online help and background, visit https://www.swi-prolog.org
For built-in help, use ?- help(Topic). or ?- apropos(Word).
?- coffeeDelivery(1).
[pickupCoffee(80),startGo(cm,office(joe),80),endGo(cm,office(joe),90),giveCoffee(joe,90),startGo(office(joe),cm,90),endGo(office(joe),cm,100),pickupCoffee(100),startGo(cm,office(bill),100),endGo(cm,office(bill),108),giveCoffee(bill,108),startGo(office(bill),cm,108),endGo(office(bill),cm,116),pickupCoffee(125),startGo(cm,office(sue),125),endGo(cm,office(sue),140),giveCoffee(sue,140),startGo(office(sue),cm,140),endGo(office(sue),cm,155),pickupCoffee(155),startGo(cm,office(mary),155),endGo(cm,office(mary),165),giveCoffee(mary,165)]
true ;
[pickupCoffee(80),startGo(cm,office(joe),80),endGo(cm,office(joe),90),giveCoffee(joe,90),startGo(office(joe),cm,90),endGo(office(joe),cm,100),pickupCoffee(100),startGo(cm,office(bill),100),endGo(cm,office(bill),108),giveCoffee(bill,108),startGo(office(bill),cm,108),endGo(office(bill),cm,116),pickupCoffee(120),startGo(cm,office(mary),120),endGo(cm,office(mary),130),giveCoffee(mary,130),startGo(office(mary),cm,130),endGo(office(mary),cm,140),pickupCoffee(140),startGo(cm,office(sue),140),endGo(cm,office(sue),155),giveCoffee(sue,155)]A run of the Two Balls example described in Section 7.9.8 for concurrent temporal execution is as follows:
$ swipl golog_temporal.pl two_balls.pl
Welcome to SWI-Prolog (threaded, 64 bits, version 9.2.5)
SWI-Prolog comes with ABSOLUTELY NO WARRANTY. This is free software.
Please run ?- license. for legal details.
For online help and background, visit https://www.swi-prolog.org
For built-in help, use ?- help(Topic). or ?- apropos(Word).
?- simulate(10).
[[collide(b1,b2,8.0)],[bounce(b2,w2,12.0)],[bounce(b1,w1,24.0),bounce(b2,w1,24.0),collide(b1,b2,24.0)],[bounce(b2,w2,36.0)],[collide(b1,b2,40.0)],[bounce(b1,w1,48.0),bounce(b2,w2,48.0)],[collide(b1,b2,56.0)],[bounce(b2,w2,60.0)],[bounce(b1,w1,72.0),bounce(b2,w1,72.0),collide(b1,b2,72.0)],[bounce(b2,w2,84.0)]]
true ;
false.