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Planning with Incomplete Information in Quantified Answer Set Programming

JORGE FANDINNO, FRANCOIS LAFERRIERE, JAVIER ROMERO, TORSTEN SCHAUB, TRAN CAO SON
2021 Theory and Practice of Logic Programming  
More precisely, we consider the problems of conformant and conditional planning with sensing actions and assumptions.  ...  We present a general approach to planning with incomplete information in Answer Set Programming (ASP).  ...  The one of assumptionbased planning is given by PP 4 = Φ e , I 3 , G e , {occupied(1), occupied(2)} , and the one of conditional planning by PP 3 with sensing actions.  ... 
doi:10.1017/s1471068421000259 fatcat:k5uzfucjvzcz7pqmxmgovakbhm

On-Line Decision-Theoretic Golog for Unpredictable Domains [chapter]

Alexander Ferrein, Christian Fritz, Gerhard Lakemeyer
2004 Lecture Notes in Computer Science  
One of the limitations is that DT planning generally cannot be applied to programs containing sensing actions.  ...  Soutchanski developed a version of DTGolog, where a program is executed on-line and DT planning can be applied to parts of a program only.  ...  them instead with models that allow the approximate calculation of otherwise sensed values during planning.  ... 
doi:10.1007/978-3-540-30221-6_25 fatcat:6esqhex5ovc33cctww6znk5tcq

Generalized Answer Set Planning with Incomplete Information

Javier Romero, Torsten Schaub, Tran Cao Son
2017 International Conference on Logic Programming and Non-Monotonic Reasoning  
Answer Set Planning was one of the first challenging applications of Answer Set Programming (ASP).  ...  This fundamental problem has already been addressed in various ways, as in conformant, assertional, and assumption-based planning, and often combined with additional sensing actions.  ...  It is worth noticing that, except [10] , previous approaches to planning with incomplete information and sensing actions using logic programming have to rely on the approximation semantics.  ... 
dblp:conf/lpnmr/0003SS17 fatcat:jhnr3oencjby5gityiluhertcm

On the Semantics of Deliberation in Indigolog – from Theory to Implementation

Sebastian Sardina, Giuseppe De Giacomo, Yves Lespérance, Hector J. Levesque
2004 Annals of Mathematics and Artificial Intelligence  
To deal with knowledge and sensing, we follow [Moore, 1985 , Scherl and Levesque, 1993 , Levesque, 1996 and use a fluent means that by executing program z starting in situation , one can get to situation  ...  S % in one elementary step with the program z % remaining to be executed, that is, there is a possible transition from the configuration © z 3 to the configuration © z % 7 3 " % .  ...  7 One can introduce non-binary sensing actions in our framework as in [Scherl and Levesque, 1993]. programs in this setting.  ... 
doi:10.1023/b:amai.0000031197.13122.aa fatcat:p3pynwk675eyviqtumsl5gverq

Planning with Loops

Hector J. Levesque
2005 International Joint Conference on Artificial Intelligence  
Unlike the case for sequential and conditional planning, much of the work on iterative planning (planning where loops may be needed) leans heavily on theorem-proving.  ...  ; presents a few examples illustrating the sorts of plans that can be generated; shows some of the strengths and weaknesses of the approach; and finally sketches the beginnings of a theory, where validation  ...  Acknowledgements Thanks to Gerhard Lakemeyer and Fahiem Bacchus for helpful comments on an earlier version of the text.  ... 
dblp:conf/ijcai/Levesque05 fatcat:mcprttd7qvem3iujxniv7dkthm

Hybrid Conditional Planning using Answer Set Programming [article]

Ibrahim Faruk Yalciner, Ahmed Nouman, Volkan Patoglu, Esra Erdem
2017 arXiv   pre-print
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  ...  Furthermore, we present performance comparisons with other compilation based conditional planners on standardized benchmark domains. This paper is under consideration for acceptance in TPLP.  ...  Muise for their helps with CLG, DNFct, PO-PRP respectively.  ... 
arXiv:1707.05904v1 fatcat:yptcluhj5zhlhbel76bv3twafm

Planning with Sensing Actions and Incomplete Information Using Logic Programming [chapter]

Tran Cao Son, Phan Huy Tu, Chitta Baral
2003 Lecture Notes in Computer Science  
We present a logic programming based conditional planner that is capable of generating both conditional plans and conformant plans in the presence of sensing actions and incomplete information.  ...  We prove the correctness of our implementation and show that our planner is complete with respect to the 0approximation of sensing actions and the class of conditional plans considered in this paper.  ...  We would like to thank Michael Gelfond for his valuable comments on an earlier draft of this paper.  ... 
doi:10.1007/978-3-540-24609-1_23 fatcat:dcxb7qid4jhh3j2essfpwhwfmu

Inferring Implicit State Knowledge and Plans with Sensing Actions [chapter]

Michael Thielscher
2001 Lecture Notes in Computer Science  
It is shown how conditional plans can be inferred with the help of a generalized concept of plan skeletons as search heuristics, which allow the planner to introduce conditional branching points by need  ...  An effective method is presented for deriving state knowledge in the presence of sensing actions.  ...  Furthermore, off-line planning in Flux should be interleaved with on-line execution of sensing actions, following the argument of [8] that pure off-line planning can often be inefficient in the presence  ... 
doi:10.1007/3-540-45422-5_26 fatcat:x65dyl4f4befpme3ptk3u5hcyi

Page 2 of Science Trends Vol. 36, Issue 12 [page]

1976 Science Trends  
Land Use Planning, SP 3: Concludes that remote sensing systems will be useful in future land use planning efforts.  ...  continuing Federal R&D on hardware, sensing systems, and space vehicles.  ... 

Assumption-Based Planning with Sensing via Contingent Planning

Pamela Calvo, Jorge A. Baier
2016 International Joint Conference on Artificial Intelligence  
In this paper we extend the ABP paradigm to domains with sensing.  ...  In our experimental evaluation we use DNF's extension and compare with existing, non-polynomial compilations of ABP to conditional planning, showing that in many domains conditional planners are able to  ...  In general, contingent plans look like programs with ifthen-else conditions. In the formalization, we focus on treelike programs to simplify our definitions.  ... 
dblp:conf/ijcai/CalvoB16 fatcat:4rer4scqevhmvd5fh2zslxdrt4

On Plans With Loops and Noise [article]

Vaishak Belle
2018 arXiv   pre-print
He motivated a logical characterisation within the situation calculus that included binary sensing actions.  ...  In an influential paper, Levesque proposed a formal specification for analysing the correctness of program-like plans, such as conditional plans, iterative plans, and knowledge-based plans.  ...  Let us begin by observing that memoryless plans can be easily encoded as GOLOG programs consisting of atomic physical actions and branches based on sensing outcomes.  ... 
arXiv:1809.05309v1 fatcat:ctk726yp5nhnjpo7db3npxc7lq

Hybrid conditional planning using answer set programming

IBRAHIM FARUK YALCINER, AHMED NOUMAN, VOLKAN PATOGLU, ESRA ERDEM
2017 Theory and Practice of Logic Programming  
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  ...  Furthermore, we present performance comparisons with other compilation based conditional planners on standardized benchmark domains.  ...  Muise for their helps with CLG, DNFct, PO-PRP respectively.  ... 
doi:10.1017/s1471068417000321 fatcat:q6bwfdmrh5bmbii7a53e2mgzhe

An Architecture for Autonomously Controlling Robot with Embodiment in Real World [article]

Megumi Fujita, Yuki Goto, Naoyuki Nide, Ken Satoh, Hiroshi Hosobe
2013 arXiv   pre-print
The key to solving these issues can be found in daily life; people 'do actions associated with sensing' and 'dynamically change their plans when necessary'.  ...  The results of these experiments show that our idea provides a way to adapt to dynamic changes of the environment in the real world.  ...  The box with a diamond denotes the atomic action with sensing. Here, (a) is a diagram of general planning theory, and (b) is that of our proposal.  ... 
arXiv:1307.7129v1 fatcat:dugoysbsdbfexiuumsk6skmnu4

Planning Partially for Situated Agents [chapter]

Paolo Mancarella, Fariba Sadri, Giacomo Terreni, Francesca Toni
2005 Lecture Notes in Computer Science  
In recent years, within the planning literature there has been a departure from approaches computing total plans for given goals, in favour of approaches computing partial plans.  ...  Planning partially (namely computing partial plans for goals) is useful (or even necessary) for a number of reasons: (i) because the planning agent is resource-bounded, (ii) because the agent has incomplete  ...  logic program with constraints KB plan = P plan , A plan , I plan and an ordinary logic program KB pre .  ... 
doi:10.1007/11533092_14 fatcat:gp2zlkmtfrecplkpokf2wea5oy

Local Conditional High-Level Robot Programs [chapter]

Sebastian Sardiña
2001 Lecture Notes in Computer Science  
The main features of such mechanism are that it takes sensing seriously by constructing conditional plans that are ready to be executed in the world, and it mixes perfectly with an account of interleaved  ...  When it comes to building robot controllers, high-level programming arises as a feasible alternative to planning. The task then is to verify a high-level program by finding a legal execution of it.  ...  Thanks also to Gerhard Lakemeyer for an early discussion on the subject of this paper, and to the anonymous referees for their valuable suggestions.  ... 
doi:10.1007/3-540-45653-8_8 fatcat:q5igfbcf5vavdcdtu6ssaiiwta
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