SPARC - Sorted ASP with Consistency Restoring Rules

Abstract

This is a preliminary report on the work aimed at making CR-Prologa version of ASP with consistency restoring rules -more suitable for use in teaching and large applications. First we describe a sorted version of CR-Prolog called SPARC. Second, we translate a basic version of the CR-Prolog into the language of DLV and compare the performance with the state of the art CR-Prolog solver. The results form the foundation for future more efficient and user friendly implementation of SPARC and shed some light on the relationship between two useful knowledge representation constructs: consistency restoring rules and weak constraints of DLV.

Knowledge-Based Hierarchical POMDPs for Task Planning

“…In this paper, we propose a task planning architecture for service robotics. We use SPARC [1] as a representation language to define the structure of a knowledge base that enables a designer to encode the capabilities of the robot, as well as hierarchical information of the environment, to build hierarchies of POMDPs. In contrast to [19,20], we employ state abstraction as a source of hierarchical information, which enables our system to build a hierarchy of abstract actions (as POMDPs) in an automatic bottom-up manner.…”

“…The domain dynamics is defined by a collection of fluents and logical rules that describe a set of neighborhood relations, deterministic and non-deterministic causal laws, state constraints and executability conditions. The purpose of these fluents and rules is to describe, in a declarative programming language (in our case SPARC [1]), the dynamics of the interactions between the robot and the environment, so that the architecture uses this description (along with the specification of each basic module) to build a POMDP that models these interactions (see Section 5.1).…”

“…3, as there is no cell above it). 1 Furthermore, it is worth mentioning that if the designer forgets to add a state constraint, or an executability condition, the system can still work. However, the more constraints and conditions are included in the dynamics description, the less time it will take to build the bottom POMDP (see Section 5.1), as the system will evaluate a smaller number of state transitions.…”

Syntactic Conditions for Antichain Property in Consistency Restoring Prolog

“…Its efficiency is sufficient for medium-size programs, including an application developed for NASA. The second CR-Prolog implementation is SPARC, introduced in Balai et al (2013). It implements a type system for the language using sort definitions.…”