Anchoring Symbols to Percepts in the Fluent Calculus

An abstract knowledge representation of cognitive robots - as used for reasoning and planning - typically relies on symbols denoting objects of the world and states of affairs. The process of creating and maintaining the correct connection between a symbol denoting an object and its corresponding perceptual image (called percept), both referring to the same physical object, is called symbol anchoring. Most current cognitive systems implement an ad hoc solution which may work for the specific, intended application under certain conditions. Conversely, we suggest a formal and general approach to the symbol anchoring problem, which enhances previous approaches in terms of flexibility, applicability and expressiveness, and which completely automates the process of determining and maintaining all plausible hypotheses of correspondences between object symbols and perceptual images of physical objects. Based on the first-order logical Fluent Calculus, our approach inherits its rich expressiveness with respect to knowledge representation and reasoning. Implementing all required symbol anchoring functionalities, our approach also complies with fundamental concepts of phenomenalism, representationalism and the sense-data theory of philosophy of cognition