%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % FILE : readme % DATE : January 2007 % AUTHOR : Sebastian Sardina & Stavros Vassos % EMAIL : {ssardina,stavros}@cs.toronto.edu % WWW : www.cs.toronto.edu/~ssardina www.cs.toronto.edu/cogrobo % DESCRIPTION : top-level readme file %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This is the root of the IndiGolog system. There are a few things you should know before running IndiGolog:

(0) Before you can run anything, you will need to read "install".

(1) The files of the implementation are scattered among many different directories. Here is the structure starting from the initial directory:

Doc/ Documentation and manuals Env/ Code related to the handling of the external environments. (e.g., simulation, LEGO environment, ER1 environment, etc.) Eval/ Temporal projectors or evaluation procedures Interpreters/ Main interpreter files and any transition system available. lib/ Compatibility and tool libraries, global definitions. Examples/ Domain applications (e.g., elevator controller, Wumpus World)

(2) Most of the code was designed and tested with the SWI Prolog system (http://www.swi-prolog.org/). Nevertheless, the whole architecture should also run with ECLIPSE Prolog (http://eclipse.crosscoreop.com/) which sometimes is needed when the application uses constraint programming.

(3) Each example application has its own sub-directory inside the Examples top-level directory. By convention, an application is loaded by consulting a file with a name of the form "main_xxx.pl" where xxx denotes the specific Prolog platform. For example, main_swi.pl is the file to load if using SWI Prolog and main_ecl.pl is the file to load if using ECLIPSE Prolog instead.

(4) There are three example applications that work as simulations. You should try to run these before trying IndiGolog on a real platform (such as on a real robot, on the Internet, etc.).

• Examples/Elevator-Vanilla. This is the simplest application and it uses the vanilla IndiGolog interpreter (indigolog-vanilla.pl). It does not require any advanced features (like TCP/IP, Tcl/Tk, Java, or threads).
• Examples/ElevatorSim-BAT. This is the same example as the vanilla one, but with a more sophisticated implementation. There is now a special simulation environment that opens a new terminal window and a Tcl/Tk interface where the user can enter exogenous actions asynchronously.
• Examples/ElevatorWumpus-KBAT. This is the Wumpus World implementation. It uses a simulated world and results are displayed in a Java window.

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