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To your larger point re: expressivity of logics, control theory can be viewed as a "hack" where we work with rare islands of tractability where probabilistic systems behave as simply as first-order predicate logic systems despite not being generally reduiable to them
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In general, I think the correct logic for control theory is second order... modal logic in possible worlds. Control theory rarely works with that explicitly (I did, briefly) but implicitly, that's the assumed world
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heh my postdoc was also robot planning and also used modal logic along with temporal interval calculus (Allen) representations. It's the obvious tool to apply when you run into certain problems. But I only got as far as "you can represent things this way"
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heh so you know the storm that followed... there were several rounds of debate and calling bullshit and counter-bullshit, but I think sacks and doyle were basically right. What the QP people thought they could do automatically was bullshit
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