Granular Reasoning for the Epistemic Situation Calculus

In Chap. 5, we apply granular reasoning to the epistemic situation calculus ES of Lakemeyer and Levesque by interpreting actions as modalities and granules of possible worlds as states. The zoom reasoning proposed by Murai et al. is regarded as an epistemic action and is incorporated into the ES as an abstraction and refinement action by the granularity of the situation.