AUV心智逻辑*

为了表示和处理AUV（Autonomous Underwater Vehicle，自治水下机器人）的心智状态及心智活动，对Rao和Georgeff的BDI逻辑进行了拓展，定义了一种含模态词（信念、目标、能力、意图、上一次、下一次、曾经、将会、总有、总会）的一阶模态时态混合逻辑系统——AML（AUV心智逻辑）；基于Kripke可能世界语义模型给出了AML语义，构造了AML公理系统及演绎规则，并证明了AML的可靠性与完备性。AML为建造AUV心智模型提供了有力的表示和处理工具，弥补了Agent理论在机器人应用

AUV Mental Logic

In order to represent the mental states and process the mental actions of AUV,this paper extends the BDI logic that proposed by Rao and Georgeff.Combining modal logic and temporal logic,a first-order logic system,called AML(AUV Mental Logic),with modal operators such as BEL,GOAL,CAP,INT and temporal operators such as L,N,P,F,H,and G,is defined.The AML semantics is given based on Kripke's possible world semantic model.The AML axioms and rules are constructed and the soundness and the completeness of the system are proved.AML can be a powerful approach to construct AUV mental model,which will bridge the gap between the agent theories and their applications in robotics.