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Robotic task planning using a backchaining theorem prover for multiplicative exponential first-order linear logic

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Fig. 1 Linear logic encodings of available actions in the Blocks World
Fig. 2 The experimental setup for the visual robot navigation domain including six uniquely colored markers and the robot RHex with a camera on it
Fig. 4 Descriptions and LPL definitions for available actions in the visual robot navigation domain
Figure 6 illustrates the execution of the sequence of actions described in Section 4.2 (14 total, pre-computed by the planner in 90 seconds on a Intel Pentium Dual-Core CPU E6500 Processor 2.93GHz PC with 2 GB of RAM with an implementation of SWI-Prolog)
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