Integrating true concurrency into the robot programming language GOLOG

Research in knowledge representation and theories of action has led to the development of several logical languages to describe the dynamics of the world. One of the most influential languages developed is the situation calculus. Stemming from this research, the situation calculus based programming language, GOLOG, has been proposed as a tool for implementing simulators and controllers of dynamical systems using a repertoire of user specified primitive actions. Lately, this language has been extended in order to incorporate the notion of concurrent action execution, leading to the dialect CONGOLOG, where an interleaving view of concurrent execution is considered. We take this work one step further by introducing true concurrency, defining the language TCONGOLOG. In our view, true concurrency arises when primitive actions can be taken to be executed at the same instant.