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Hybrid conditional planning using answer set programming

thEORY AND practice OF LOGIC programming 2017年第5-6期17卷 1027-1047页

作者： Yalciner, Ibrahim Faruk Nouman, Ahmed Patoglu, Volkan Erdem, Esra Sabanci Univ Fac Engn & Nat Sci Istanbul Turkey

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.

关键词： Conditional planning hybrid planning answer set programming cognitive robotics

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A Parallel SAT-Based Framework for Closed Frequent Itemsets Mining 1

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24th international conference on the principles and practice of constraint programming (CP)

作者： Dlala, Imen Ouled Jabbour, Said Raddaoui, Badran Sais, Lakhdar Univ Artois CNRS CRIL F-62307 Lens France Univ Paris Saclay CNRS SAMOVAR Telecom SudParis Evry France Univ Tunis LARODEC Tunis Tunisia

ISBN: (数字)9783319983349

ISBN: (纸本)9783319983349;9783319983332

constraint programming (CP) and propositional satisfiability (SAT) based framework for modeling and solving pattern mining tasks has gained a considerable audience in recent years. However, this nice declarative and generic framework encounters a scaling problem. the huge size of constraints networks/propositional formulas encoding large datasets is identified as the main bottleneck of most existing approaches. In this paper, we propose a parallel SAT based framework for itemset mining problem to push forward the solving efficiency. the proposed approach is based on a divide-and-conquer paradigm, where the transaction database is partitioned using item-based guiding paths. Such decomposition allows us to derive smaller and independent Boolean formulas that can be solved in parallel. the performance and scalability of the proposed algorithm are evaluated through extensive experiments on several datasets. We demonstrate that our partition-based parallel SAT approach outperforms other CP approaches even in the sequential case, while significantly reducing the performances gap with specialized approaches.

关键词： constraint programming

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Asynchronous Forward Bounding Revisited

Asynchronous Forward Bounding Revisited

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19th Annual international conference on principles and practice of constraint programming (CP)

作者： Wahbi, Mohamed Ezzahir, Redouane Bessiere, Christian Mines Nantes TASC INRIA CNRS Mines Nantes France Univ Ibn Zohr Natl Sch Appl Sci Rabat Morocco Univ Montpellier Montpellier France

ISBN: (纸本)9783642406263;9783642406270

the Distributed constraint Optimization Problem (DCOP) is a powerful framework for modeling and solving applications in multi-agent coordination. Asynchronous Forward Bounding (AFB_BJ) is one of the best algorithms to solve DCOPs. We propose AFB_BJ(+), a revisited version of AFB_BJ in which we refine the lower bound computations. We also propose to compute lower bounds for the whole domain of the last assigned agent instead of only doing this for its current assignment. this reduces both the number of messages needed and the time future agents remain idle. In addition, these lower bounds can be used as a value ordering heuristic in AFB_BJ(+). the experimental evaluation on standard benchmark problems shows the efficiency of AFB_BJ(+) compared to other algorithms for DCOPs.

关键词： Computer programming

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AND/OR search spaces and the semantic width of constraint networks

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11th international conference on principles and practice of constraint programming (CP 2005)

作者： Mateescu, R Dechter, R Univ Calif Irvine Sch Informat & Comp Sci Irvine CA 92697 USA

ISBN: (纸本)3540292381

the primary contribution of this paper consists in using the AND/OR search paradigm [1,2] to define the new concept of semantic width of a constraint network. the well known parameter tree-width is graph based, and cannot capture context sensitive information. this often results in a very loose upper bound on the actual complexity of the problem. A typical example is the compact result of a compilation schemes such as ordered binary decision diagram (OBDD), in spite of a large tree-width (and path-width). the semantic width is based on the notion of equivalent constraint networks. the idea is to capture the intrinsic hardness of a problem by the smallest width equivalent network. this paper specializes the AND/OR formalism to constraint networks and elaborates the properties of AND/OR search graphs. the semantic width characterizes the size of the minimal AND/OR graph and it is clearly hard to compute. Nevertheless, the semantic width can explain why sometimes the minimal AND/OR graph or tree are much smaller than the upper bounds exponential in tree-width or path-width. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Semantics

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ASP with non-herbrand partial functions: a language and system for practical use

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thEORY AND practice OF LOGIC programming 2013年第4-5期13卷 547-561页

作者： Balduccini, Marcello Eastman Kodak Co Rochester NY 14650 USA

Dealing with domains involving substantial quantitative information in Answer Set programming (ASP) often results in cumbersome and inefficient encodings. Hybrid "CASP" languages combining ASP and constraint programming aim to overcome this limitation, but also impose inconvenient constraints - first and foremost that quantitative information must be encoded by means of total functions. this goes against central knowledge representation principles that contribute to the power of ASP, and makes the formalization of certain domains difficult. ASP{f} is being developed with the ultimate goal of providing scientists and practitioners with an alternative to CASP languages that allows for the efficient representation of qualitative and quantitative information in ASP without restricting one's ability to deal with incompleteness or uncertainty. In this paper we present the latest outcome of such research: versions of the language and of the supporting system that allow for practical, industrial-size use and scalability. the applicability of ASP{f} is demonstrated by a case study on an actual industrial application.

关键词： Answer Set programming non-herbrand functions constraint answer set programming practical applications

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Bin Packing with Linear Usage Costs - An Application to Energy Management in Data Centres

Bin Packing with Linear Usage Costs - An Application to Ener...

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19th Annual international conference on principles and practice of constraint programming (CP)

作者： Cambazard, Hadrien Mehta, Deepak O'Sullivan, Barry Simonis, Helmut Univ Grenoble G SCOP INP Grenoble France UJF CNRS Grenoble France Univ Coll Cork Cork Constraint Computat Ctr Cork Ireland

ISBN: (纸本)9783642406263;9783642406270

EnergeTIC is a recent industrial research project carried out in Grenoble on optimizing energy consumption in data-centres. the efficient management of a data-centre involves minimizing energy costs while ensuring service quality. We study the problem formulation proposed by EnergeTIC. First, we focus on a key sub-problem: a bin packing problem with linear costs associated with the use of bins. We study lower bounds based on Linear programming and extend the bin packing global constraint with cost information. Second, we present a column generation model for computing the lower bound on the original energy management problem where the pricing problem is essentially a cost-aware bin packing with side constraints. third, we show that the industrial benchmark provided so far can be solved to near optimality using a large neighborhood search.

关键词： Energy management

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Declarative Interpretations of Session-Based Concurrency 15

Declarative Interpretations of Session-Based Concurrency

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17th international Symposium on principles and practice of Declarative programming (PPDP)

作者： Cano, Mauricio Rueda, Camilo Lopez, Hugo A. Perez, Jorge A. Pontificia Univ Javeriana Cali Cali Colombia Tech Univ Denmark Lyngby Denmark Univ Lisbon LaSIGE Lisbon Portugal Univ Groningen Groningen Netherlands

ISBN: (纸本)9781450335164

Session-based concurrency is a type-based approach to the analysis of communication-intensive systems. Correct behavior in these systems may be specified in an operational or declarative style: the former defines how interactions are structured;the latter defines governing conditions. In this paper, we investigate the relationship between operational and declarative models of session-based concurrency. We propose two interpretations of session pi-calculus processes as declarative processes in linear concurrent constraint programming (1cc). they offer a basis on which both operational and declarative requirements can be specified and reasoned about. By coupling our interpretations with a type system for 1cc, we obtain robust declarative encodings of pi-calculus mobility.

关键词： concurrency pi-calculus concurrent constraint programming session types expressiveness

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Domain Consistency with Forbidden Values

Domain Consistency with Forbidden Values

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16th Annual international conference on the principles and practice of constraint programming

作者： Deville, Yves Van Hentenryck, Pascal Catholic Univ Louvain Louvain Belgium Brown Univ Providence RI 02912 USA

ISBN: (纸本)9783642153952

this paper presents a novel domain-consistency algorithm which does not maintain supports dynamically during propagation, but rather maintain forbidden values. It introduces the optimal NAC4 (negative AC4) algorithm based on this idea. It further shows that maintaining forbidden values dynamically allows the generic algorithm AC5 to achieve domain consistency in time O(ed) for classes of constraints in which the number of supports is O(d(2)) but the number of forbidden values is O(d). the paper also shows how forbidden values and supports can be used jointly to achieve domain consistency on logical combinations of constraints and to compute validity as well as entailment of constraints. Experimental results show the benefits of the joint exploitation of supports and forbidden values.

关键词： Computer programming

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constraint-Based Program Reasoning with Heaps and Separation

Constraint-Based Program Reasoning with Heaps and Separation

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19th Annual international conference on principles and practice of constraint programming (CP)

作者： Duck, Gregory J. Jaffar, Joxan Koh, Nicolas C. H. Natl Univ Singapore Dept Comp Sci Singapore 117548 Singapore

ISBN: (纸本)9783642406263;9783642406270

this paper introduces a constraint language H for finite partial maps (a.k.a. heaps) that incorporates the notion of separation from Separation Logic. We use H to build an extension of Hoare Logic for reasoning over heap manipulating programs using (constraint-based) symbolic execution. We present a sound and complete algorithm for solving quantifier-free (QF) H-formulae based on heap element propagation. An implementation of the H-solver has been integrated into a Satisfiability Modulo theories (SMT) framework. We experimentally evaluate the implementation against Verification Conditions (VCs) generated from symbolic execution of large (heap manipulating) programs. In particular, we mitigate the path explosion problem using subsumption via interpolation - made possible by the constraint-based encoding.

关键词： Heap Manipulating Programs Symbolic Execution Separation Logic Satisfiability Modulo theories constraint Handling Rules

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Using blocks for constraint satisfaction 4th

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4th international conference on principles and practice of constraint programming (CP 98)

作者： Seybold, B Metzger, F Ogan, G Simon, K ETH Zurich Inst Theoret Comp Sci Zurich Switzerland ETH Zurich Inst Mfg Technol & Machine Tools Zurich Switzerland

ISBN: (纸本)3540652248

the assembly problem is the spatial joining of separate rigid bodies within a CAD/CAM-system. the solution to the assembly does not only need to contain one consistent instantiation, but also qualitative information. In particular, this covers the localization of redundancy and remaining degrees of freedom in the mechanism. Although it is natural to model the assembly as a constraint satisfaction problem (CSP), solving remains a difficult task In general, a CSP can be attacked by two strategies: consistency enforcement and search. Algorithms work best if they combine these strategies in a clever way. When modeling the assembly problem as a CSP, one is confronted with two special conditions. First, the variable domains are continuous. Second, constraints are not arbitrary, but are conjunctions of instantiated predefined constraint types. thus, search is not possible because of the continuous domains and numeric iterative or interval approaches deliver no information on degrees of freedom and redundancy. therefore, pure consistency enforcement, which has many drawbacks in general CSPs, is the best choice

关键词： constraint satisfaction problems

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