plasp 3: Towards Effective ASP Planning

Dimopoulos, Yannis; Gebser, Martin; Lühne, Patrick; Romero, Javier; Schaub, Torsten

doi:10.1007/978-3-319-61660-5_26

Cited by 16 publications

(26 citation statements)

References 10 publications

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“…Finally, Section 6 concludes the paper with a summary of the achieved results and future work. This paper extends a previous conference version (Dimopoulos et al 2017), which did not include the guess-and-check strategies presented in Section 3, the description of the translator component of plasp 3 given in Section 4, and experimental results on the benchmark set by Rintanen (2012) as well as ASP planning benchmarks.…”

Section: Introductionmentioning

confidence: 83%

plasp 3: Towards Effective ASP Planning

Dimopoulos

Gebser

Lühne

et al. 2019

Theory and Practice of Logic Programming

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We describe the new version of the Planning Domain Definition Language (PDDL)-to-Answer Set Programming (ASP) translator plasp. First, it widens the range of accepted PDDL features. Second, it contains novel planning encodings, some inspired by Satisfiability Testing (SAT) planning and others exploiting ASP features such as well-foundedness. All of them are designed for handling multivalued fluents in order to capture both PDDL as well as SAS planning formats. Third, enabled by multishot ASP solving, it offers advanced planning algorithms also borrowed from SAT planning. As a result, plasp provides us with an ASP-based framework for studying a variety of planning techniques in a uniform setting. Finally, we demonstrate in an empirical analysis that these techniques have a significant impact on the performance of ASP planning.

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Section: Introductionmentioning

confidence: 83%

plasp 3: Towards Effective ASP Planning

Dimopoulos

Gebser

Lühne

et al. 2019

Theory and Practice of Logic Programming

Self Cite

View full text Add to dashboard Cite

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“…Section 5.1), Ricochet Robots (cf. Section 5.3), and ASP encodings of PDDL problems (Dimopoulos et al 2017). 39 For either benchmark, we let clingo version 4.5.4 search for a shortest plan by incrementally extending the horizon until the first plan is found.…”

Section: Methodsmentioning

confidence: 99%

Multi-shot ASP solving with clingo

Gebser

Kaminski

Kaufmann

et al. 2018

Theory and Practice of Logic Programming

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232

198

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We introduce a new flexible paradigm of grounding and solving in Answer Set Programming (ASP), which we refer to as multi-shot ASP solving, and present its implementation in the ASP systemclingo. Multi-shot ASP solving features grounding and solving processes that deal with continuously changing logic programs. In doing so, they remain operative and accommodate changes in a seamless way. For instance, such processes allow for advanced forms of search, as in optimization or theory solving, or interaction with an environment, as in robotics or query answering. Common to them is that the problem specification evolves during the reasoning process, either because data or constraints are added, deleted, or replaced. This evolutionary aspect adds another dimension to ASP since it brings about state changing operations. We address this issue by providing an operational semantics that characterizes grounding and solving processes in multi-shot ASP solving. This characterization provides a semantic account of grounder and solver states along with the operations manipulating them. The operative nature of multi-shot solving avoids redundancies in relaunching grounder and solver programs and benefits from the solver's learning capacities.clingoaccomplishes this by complementing ASP's declarative input language with control capacities. On the declarative side, a new directive allows for structuring logic programs into named and parameterizable subprograms. The grounding and integration of these subprograms into the solving process is completely modular and fully controllable from the procedural side. To this end,clingooffers a new application programming interface that is conveniently accessible via scripting languages. By strictly separating logic and control,clingoalso abolishes the need for dedicated systems for incremental and reactive reasoning, likeiclingoandoclingo, respectively, and its flexibility goes well beyond the advanced yet still rigid solving processes of the latter.

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“…In Section 4.3 we have shown one of our encoding with one particular manipulation mode and search strategy but, as we already said, we have designed a series of encodings (available at https://tinyurl.com/ycbp798j), including different manipulation modes, i.e., also backward (given our link ordering), and search strategies. As far as the strategies are concerned, we have designed encoding in which, imposing a reasonable timemax (i) by employing a strategy based on the algorithm optsat [7], where the heuristic of the solver is modified in order to prefer plans with increasing length, and (ii) by using a choice rule to select the timestep and we let the solver finding a plan, of course possibly loosing optimality (see also [8]).…”

Section: Related Workmentioning

confidence: 99%

“…Focusing on planning encodings, recently the Plasp system [8] has been further extended with both SAT-inspired and genuine encodings. Some of them have helped to reduce the (still existing) gap with automated planning techniques.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

Bertolucci

Capitanelli

Dodaro

et al. 2019

Logic Programming and Nonmonotonic Reasoning

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The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability. In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of the knowledge base, as well as for generating the sequence of manipulation actions. The framework is validated both in simulation and on the Baxter dual-arm manipulator, showing the applicability of the ASP methodology in this complex application scenario.

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plasp 3: Towards Effective ASP Planning

Cited by 16 publications

References 10 publications

plasp 3: Towards Effective ASP Planning

plasp 3: Towards Effective ASP Planning

Multi-shot ASP solving with clingo

An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

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