Temporal reasoning: a solution for multiple agent collision avoidance

A temporal reasoning system for solving practical planning problems is presented. The system is based on a nonmonotonic temporal logic which features homogeneous assertions, continuous time, and defeasible inferences. The model-theoretic semantics provide a basis for algorithms which generate inferences directly from axioms in the logic. The system´s utility is demonstrated by a solution to the multiple agent collision avoidance problem. A formulation of this problem separates spatial and temporal considerations. The temporal reasoning system is used to predict collisions and generate efficient strategies for avoiding them