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Hybrid Conditional Planning using Answer Set Programming
[article]
2017
arXiv
pre-print
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
arXiv:1707.05904v1
fatcat:yptcluhj5zhlhbel76bv3twafm