REPRESENTING AND REASONING ABOUT MOTION IN A 2-DIMENSIONAL WORLD

We present a point-based spatiotemporal first-order logic for represen ting the qualitative and quantitative spatial temporal knowledge neede d to reason about motion in a two-dimensional space. A feature of the logic is the uniform treatment of space and time. The knowledge of a s implified world, a two-dimensional street network with active traffic lights, is represented, and the reasoning problem of how a robot moves from one place to another in the world is formalized with the propose d logic.