Systems and methods are presented that enable logical reasoning even in the presence of noisy (inconsistent) data. The knowledge base is processed in order to make it consistent and is also compiled. This processing includes checking and correcting spelling, removing stopwords, performing, grouping words of similar and related meaning, and compacting the knowledge base. A robot can use the processed knowledge base to perform many different types of tasks, such as answering a query, determining a course of action that is designed to achieve a particular goal, and determining its own location.