Action Planning for Robots using the First Order Logic Calculus of Positively Constructed Formulas

The paper presents an approach to constructing plans for a group of Lego MindStorm robots, moving small blocks to the target area. The approach is based on non-Horn logical programming in the original first-order language of positively constructed formulas (PCF). A description of the PCF formalism is given, an example of solving a problem of constructing action plans for a group of three robots is presented. Unlike other modern approaches to planning action in robotics, our approach is distinguished by a great expressiveness of means for representing knowledge in the system and about the environment.