Excerpt from Preliminary Studies for a First Order Logic of Knowledge and Action
AI planners which are designed for robust domains must be able to work well with incomplete knowledge. In particular, they must be able to reason about what they need to know in order to perform an action, and how to get the information that they need. This paper presents a formalism which is expressive enough to describe these reasoning processes. We demonstrate that for our purposes, a first order logic of knowledge is superior to a modal logic of knowledge. Next, we describe the paradoxes that result from a first-order approach, and show how we can resolve them. Finally, we present a simple model of action and propose a solution to the knowledge preconditions problem based on our integrated theory of knowledge and action.
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