REX: Robotics expert systems building tool

REX, an expert systems development shell for robotics applications, is presented in the paper. The shell is intended for building expert systems in various domains of robotics, including design, planning, control, fault-detection, and navigation. REX's knowledge and data representation techniques include several standard techniques, like rules, frames, parameters, and variables, as well as certain techniques which are not commonly used by other expert systems building tools. These specific techniques include sensor data, status data, models and algorithms. The REX inference engine provides a means for reasoning with all of these knowledge and data types. The inference engine features both off-line and on-line modes of operation. REX has powerful interfaces for communicating both with the user and with other software modules in a complex application. Certain learning techniques are built into the shell. An example of applying REX for building an expert system in the domain of robot control is also presented. Finally, a discussion is provided on the relation between REX and second-generation expert systems.