Extending ConGolog to allow partial ordering

Chitta Baral and T. Son.


In this paper we extend the high level execution language \congolog (developed at the University of Toronto) by adding to it a new construct which we call the {\em htn}-construct. The new construct improves \congolog by allowing easy specification of non-determinism when a partial ordering between a set of actions needs to be maintained. Furthermore, it allows temporal constraints to be specified easily. We present an implementation of the {\em htn}-construct in PROLOG which can be directly added to PROLOG implementations of ConGolog interpreters.