4.10.8 TeleoR Procedure Definitions

A TeleoR-program is a sequence of TeleoR procedure definitions that have the form

Head {

TeleoR Rule
...
TeleoR Rule

}

where Head is the same as for relation rules. The order of the procedure definitions is not significant but the order of the rules inside each procedure is significant. Each TeleoR Rule has one of the forms given below.

The most simple TeleoR rule has the form

Guard ~> TeleoR Action

where Guard is a conjunct of goals and TeleoR Action is of the form given below.

At the other extreme, the two most complete forms of a TeleoR rule are

Guard or_while Or min_time Duration ~> TeleoR Action

and

Guard commit_while Commit min_time Duration ~> TeleoR Action

where Or and Commit are conjuncts of goals and Duration is a number.

The right hand side of each TeleoR rule most often takes one of the following forms:

• A single TeleoR procedure call which may be a recursive call
• A comma separated sequence of primitive robotic actions. The special TeleoR action () represents the empty set of primitive actions. The order of the robotic actions is not significant. They are to be executed in parallel.
• A timed sequence of the form

  [RobotAction : Duration, ..., RobotAction : Duration].

  where the last action need not have a maximum duration and RobotAction is either a TeleoR procedure call or a robotic action.

However any of the above robot actions action can be optionally followed by an agent action as follows.

RobotAction ++ AgentAction

Each AgentAction is:

• a modification to the belief store
• a message send action
• a sequence of the above actions separated by ;s and enclosed in {, } parentheses
• a single call to a QuLog action procedure which only uses belief store update and message send builtin QuLog actions.

If the RobotAction action is the empty action () but there is an AgentAction the rule form:

... ~> () ++ AgentAction

may be abbreviated to:

... ~+> AgentAction

A TeleoR program in which every rule uses the ~+> arrow, and which has no percept declaration or primitive_action type definition, is a program for a software agent that communicates with other agents, and perhaps hardware devices, purely by messages routed via Pedro.