Hybrid conditional planning using answer set programming

作     者：Yalciner, Ibrahim Faruk Nouman, Ahmed Patoglu, Volkan Erdem, Esra 

作者机构：Sabanci Univ Fac Engn & Nat Sci Istanbul Turkey 

出 版 物：《THEORY AND PRACTICE OF LOGIC PROGRAMMING》 (逻辑程序设计理论与实践)

年 卷 期：2017年第17卷第5-6期

页      面：1027-1047页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Science Academy (BAGEP) 

主　　题：Conditional planning hybrid planning answer set programming cognitive robotics 

摘      要：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.