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The combined approach of the Qualitative Reasoning and ProbabilisticFunctions for the knowledge representation is proposed. The method aims atrepresent uncertain, qualitative knowledge that is essential for the movingblocks task's execution. The attempt to formalize the commonsense knowledge isperformed with the Situation Calculus language for reasoning and robot'sbeliefs representation. The method is implemented in the Prolog programminglanguage and tested for a specific simulated scenario. In most cases theimplementation enables us to solve a given task, i.e., move blocks to desiredpositions. The example of robot's reasoning and main parts of the implementedprogram's code are presented.

Reasoning for Moving Blocks Problem: Formal Representation and Implementation