12 research outputs found
On Relation between Constraint Answer Set Programming and Satisfiability Modulo Theories
Constraint answer set programming is a promising research direction that
integrates answer set programming with constraint processing. It is often
informally related to the field of satisfiability modulo theories. Yet, the
exact formal link is obscured as the terminology and concepts used in these two
research areas differ. In this paper, we connect these two research areas by
uncovering the precise formal relation between them. We believe that this work
will booster the cross-fertilization of the theoretical foundations and the
existing solving methods in both areas. As a step in this direction we provide
a translation from constraint answer set programs with integer linear
constraints to satisfiability modulo linear integer arithmetic that paves the
way to utilizing modern satisfiability modulo theories solvers for computing
answer sets of constraint answer set programs.Comment: Under consideration in Theory and Practice of Logic Programming
(TPLP
The EZSMT Solver: Constraint Answer Set Solving meets SMT
Constraint answer set programming is a promising research direction that integrates answer set programming with constraint processing. It is often informally related to the field of Satisfiability Modulo Theories. Yet, the exact formal link is obscured as the terminology and concepts used in these two research areas differ. In this thesis, by connecting these two areas, we begin the cross-fertilization of not only of the theoretical foundations of both areas but also of the existing solving technologies. We present the system EZSMT, one of the first solvers of this nature, which is able to take a large class of constraint answer set programs and rewrite them into Satisfiability Modulo Theories programs so that Satisfiability Modulo Theories technology can be used to process these programs
Constraints, Lazy Constraints, or Propagators in ASP Solving: An Empirical Analysis
Answer Set Programming (ASP) is a well-established declarative paradigm. One
of the successes of ASP is the availability of efficient systems.
State-of-the-art systems are based on the ground+solve approach. In some
applications this approach is infeasible because the grounding of one or few
constraints is expensive. In this paper, we systematically compare alternative
strategies to avoid the instantiation of problematic constraints, that are
based on custom extensions of the solver. Results on real and synthetic
benchmarks highlight some strengths and weaknesses of the different strategies.
(Under consideration for acceptance in TPLP, ICLP 2017 Special Issue.)Comment: Paper presented at the 33nd International Conference on Logic
Programming (ICLP 2017), Melbourne, Australia, August 28 to September 1,
2017. 16 page
On the semantics of hybrid ASP systems based on Clingo
[Abstract]: Over the last decades, the development of Answer Set Programming (ASP) has brought about an expressive modeling language powered by highly performant systems. At the same time, it gets more and more difficult to provide semantic underpinnings capturing the resulting constructs and inferences. This is even more severe when it comes to hybrid ASP languages and systems that are often needed to handle real-world applications. We address this challenge and introduce the concept of abstract and structured theories that allow us to formally elaborate upon their integration with ASP. We then use this concept to make the semantic characterization of clingo’s theory-reasoning framework precise. This provides us with a formal framework in which we can elaborate upon the formal properties of existing hybridizations of clingo, such as clingcon, clingo[dl], and clingo[lp].This work was supported by DFG grant SCHA 550/11, Germany, by grant PID2020-116201GB-I00 funded by MCIN/AEI/ 10.13039/501100011033, Spain, by Xunta de Galicia and the European Union, GPC ED431B 2022/33, by European COST action CA17124 DigForASP, EU, and by the National Science Foundation (NSF 95-3101-0060-402), USA.Xunta de Galicia; ED431B 2022/33Deutsche Forschungsgemeinschaft; SCHA 550/11United States. National Science Foundation; NSF 95-3101-0060-40
Manipulation of Articulated Objects using Dual-arm Robots via Answer Set Programming
The manipulation of articulated objects is of primary importance in Robotics,
and can be considered as one of the most complex manipulation tasks.
Traditionally, this problem has been tackled by developing ad-hoc approaches,
which lack flexibility and portability.
In this paper we present a framework based on Answer Set Programming (ASP)
for the automated manipulation of articulated objects in a robot control
architecture. In particular, ASP is employed for representing the configuration
of the articulated object, for checking the consistency of such representation
in the knowledge base, and for generating the sequence of manipulation actions.
The framework is exemplified and validated on the Baxter dual-arm manipulator
in a first, simple scenario. Then, we extend such scenario to improve the
overall setup accuracy, and to introduce a few constraints in robot actions
execution to enforce their feasibility. The extended scenario entails a high
number of possible actions that can be fruitfully combined together. Therefore,
we exploit macro actions from automated planning in order to provide more
effective plans. We validate the overall framework in the extended scenario,
thereby confirming the applicability of ASP also in more realistic Robotics
settings, and showing the usefulness of macro actions for the robot-based
manipulation of articulated objects. Under consideration in Theory and Practice
of Logic Programming (TPLP).Comment: Under consideration in Theory and Practice of Logic Programming
(TPLP