Hybrid conditional planning using answer set programming

DOI10.1017/S1471068417000321MaRDI QIDQ4592727zbMATH OpenOpenAlexFDO

Authors Ibrahim Faruk Yalciner, Ahmed Nouman, Volkan Patoglu, Esra Erdem

Publication date 8 November 2017

Published in Theory and Practice of Logic Programming (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1707.05904

zbMATH Keywords

answer set programmingcognitive roboticsconditional planninghybrid planning

Mathematics Subject Classification ID

Logic programming (68N17) Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Artificial intelligence for robotics (68T40)

Abstract: We introduce a parallel offline algorithm for computing hybrid conditional plans, called HCP-ASP, oriented towards robotics applications. HCP-ASP relies on modeling actuation actions and sensing actions in an expressive nonmonotonic language of answer set programming (ASP), and computation of the branches of a conditional plan in parallel using an ASP solver. In particular, thanks to external atoms, continuous feasibility checks (like collision checks) are embedded into formal representations of actuation actions and sensing actions in ASP; and thus each branch of a hybrid conditional plan describes a feasible execution of actions to reach their goals. Utilizing nonmonotonic constructs and nondeterministic choices, partial knowledge about states and nondeterministic effects of sensing actions can be explicitly formalized in ASP; and thus each branch of a conditional plan can be computed by an ASP solver without necessitating a conformant planner and an ordering of sensing actions in advance. We apply our method in a service robotics domain and report experimental evaluations. Furthermore, we present performance comparisons with other compilation based conditional planners on standardized benchmark domains. This paper is under consideration for acceptance in TPLP.

Recommendations

• Reasoning and planning with sensing actions, incomplete information, and static causal laws using answer set programming
• Human robot collaborative assembly planning: an answer set programming approach
• Logic Programming and Nonmonotonic Reasoning
• Conditional Planning with External Functions
• Planning with Incomplete Information in Quantified Answer Set Programming

Cites work

• Complexity, decidability and undecidability results for domain-independent planning
• Formalizing sensing actions -- a transition function based approach
• scientific article; zbMATH DE number 25190 (Why is no real title available?)
• Nonmonotonic causal theories
• Planning graph heuristics for belief space search
• Reasoning and planning with sensing actions, incomplete information, and static causal laws using answer set programming
• Replanning in domains with partial information and sensing actions

Cited in

(5)

• Planning in hybrid relational MDPs
• Integrating ASP into ROS for reasoning in robots
• Planning with Incomplete Information in Quantified Answer Set Programming
• Human robot collaborative assembly planning: an answer set programming approach
• Answer set planning: a survey

Describes a project that uses

Uses Software

• CCalc

This page was built for publication: Hybrid conditional planning using answer set programming

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4592727)