By their very design, many robot control programs are non-terminating. This paper describes a situation calculus approach to expressing and proving properties of non-terminating programs expressed in Golog , a high level logic programming language for modeling and implementing dynamical systems. Because in this approach actions and programs are represented in classical (second-order) logic, it is natural to express and prove properties of Golog programs, including non-terminating ones, in the very same logic. This approach to program proofs has the advantage of logical uniformity and the availability of classical proof theory.

中文翻译：

---

情境演算中的非终止进程

根据它们的设计，许多机器人控制程序是非终止的。本文描述了一种情境演算方法，用于表达和证明用 Golog 表示的非终止程序的性质，Golog 是一种用于建模和实现动态系统的高级逻辑编程语言。因为在这种方法中，动作和程序以经典（二阶）逻辑表示，所以很自然地以相同的逻辑表达和证明 Golog 程序的属性，包括非终止程序。这种程序证明方法具有逻辑一致性和经典证明理论的可用性的优点。