Rewriting recursive aggregates in answer set programming: back to monotonicity

Aggregation functions are widely used in answer set programming for representing and reasoning on knowledge involving sets of objects collectively. Current implementations simplify the structure of programs in order to optimize the overall performance. In particular, aggregates are rewritten into simpler forms known as monotone aggregates. Since the evaluation of normal programs with monotone aggregates is in general on a lower complexity level than the evaluation of normal programs with arbitrary aggregates, any faithful translation function must introduce disjunction in rule heads in some cases. However, no function of this kind is known. The paper closes this gap by introducing a polynomial, faithful, and modular translation for rewriting common aggregation functions into the simpler form accepted by current solvers. A prototype system allows for experimenting with arbitrary recursive aggregates, which are also supported in the recent version 4.5 of the grounder gringo, using the methods presented in this paper

Relating Weight Constraint and Aggregate Programs: Semantics and Representation

Weight constraint and aggregate programs are among the most widely used logic programs with constraints. In this paper, we relate the semantics of these two classes of programs, namely the stable model semantics for weight constraint programs and the answer set semantics based on conditional satisfaction for aggregate programs. Both classes of programs are instances of logic programs with constraints, and in particular, the answer set semantics for aggregate programs can be applied to weight constraint programs. We show that the two semantics are closely related. First, we show that for a broad class of weight constraint programs, called strongly satisfiable programs, the two semantics coincide. When they disagree, a stable model admitted by the stable model semantics may be circularly justified. We show that the gap between the two semantics can be closed by transforming a weight constraint program to a strongly satisfiable one, so that no circular models may be generated under the current implementation of the stable model semantics. We further demonstrate the close relationship between the two semantics by formulating a transformation from weight constraint programs to logic programs with nested expressions which preserves the answer set semantics. Our study on the semantics leads to an investigation of a methodological issue, namely the possibility of compact representation of aggregate programs by weight constraint programs. We show that almost all standard aggregates can be encoded by weight constraints compactly. This makes it possible to compute the answer sets of aggregate programs using the ASP solvers for weight constraint programs. This approach is compared experimentally with the ones where aggregates are handled more explicitly, which show that the weight constraint encoding of aggregates enables a competitive approach to answer set computation for aggregate programs.Comment: To appear in Theory and Practice of Logic Programming (TPLP), 2011. 30 page

Answer Sets for Logic Programs with Arbitrary Abstract Constraint Atoms

In this paper, we present two alternative approaches to defining answer sets for logic programs with arbitrary types of abstract constraint atoms (c-atoms). These approaches generalize the fixpoint-based and the level mapping based answer set semantics of normal logic programs to the case of logic programs with arbitrary types of c-atoms. The results are four different answer set definitions which are equivalent when applied to normal logic programs. The standard fixpoint-based semantics of logic programs is generalized in two directions, called answer set by reduct and answer set by complement. These definitions, which differ from each other in the treatment of negation-as-failure (naf) atoms, make use of an immediate consequence operator to perform answer set checking, whose definition relies on the notion of conditional satisfaction of c-atoms w.r.t. a pair of interpretations. The other two definitions, called strongly and weakly well-supported models, are generalizations of the notion of well-supported models of normal logic programs to the case of programs with c-atoms. As for the case of fixpoint-based semantics, the difference between these two definitions is rooted in the treatment of naf atoms. We prove that answer sets by reduct (resp. by complement) are equivalent to weakly (resp. strongly) well-supported models of a program, thus generalizing the theorem on the correspondence between stable models and well-supported models of a normal logic program to the class of programs with c-atoms. We show that the newly defined semantics coincide with previously introduced semantics for logic programs with monotone c-atoms, and they extend the original answer set semantics of normal logic programs. We also study some properties of answer sets of programs with c-atoms, and relate our definitions to several semantics for logic programs with aggregates presented in the literature

An FLP-Style Answer-Set Semantics for Abstract-Constraint Programs with Disjunctions

We introduce an answer-set semantics for abstract-constraint programs with disjunction in rule heads in the style of Faber, Leone, and Pfeifer (FLP). To this end, we extend the definition of an answer set for logic programs with aggregates in rule bodies using the usual FLP-reduct. Additionally, we also provide a characterisation of our semantics in terms of unfounded sets, likewise generalising the standard concept of an unfounded set. Our work is motivated by the desire to have simple and rule-based definitions of the semantics of an answer-set programming (ASP) language that is close to those implemented by the most prominent ASP solvers. The new definitions are intended as a theoretical device to allow for development methods and methodologies for ASP, e.g., debugging or testing techniques, that are general enough to work for different types of solvers. We use abstract constraints as an abstraction of literals whose truth values depend on subsets of an interpretation. This includes weight constraints, aggregates, and external atoms, which are frequently used in real-world answer-set programs. We compare the new semantics to previous semantics for abstract-constraint programs and show that they are equivalent to recent extensions of the FLP semantics to propositional and first-order theories when abstract-constraint programs are viewed as theories

Sampler Programs: The Stable Model Semantics of Abstract Constraint Programs Revisited

Abstract constraint atoms provide a general framework for the study of aggregates utilized in answer set programming. Such primitives suitably increase the expressive power of rules and enable more concise representation of various domains as answer set programs. However, it is non-trivial to generalize the stable model semantics for programs involving arbitrary abstract constraint atoms. For instance, a nondeterministic variant of the immediate consequence operator is needed, or the definition of stable models cannot be stated directly using primitives of logic programs. In this paper, we propose sampler programs as a relaxation of abstract constraint programs that better lend themselves to the program transformation involved in the definition of stable models. Consequently, the declarative nature of stable models can be restored for sampler programs and abstract constraint programs are also covered if decomposed into sampler programs. Moreover, we study the relationships of the classes of programs involved and provide a characterization in terms of abstract but essentially deterministic computations. This result indicates that all nondeterminism related with abstract constraint atoms can be resolved at the level of program reduct when sampler programs are used as the intermediate representation

Strong Equivalence of Logic Programs with Abstract Constraint Atoms

Abstract. Logic programs with abstract constraint atoms provide a unifying framework for studying logic programs with various kinds of constraints. Establishing strong equivalence between logic programs is a key property for program maintenance and optimization, and for guaranteeing the same behavior for a revised original program in any context. In this paper, we study strong equivalence of logic programs with abstract constraint atoms. We first give a general characterization of strong equivalence based on a new definition of program reduct for logic programs with abstract constraints. Then we consider a particular kind of program revision-constraint replacements addressing the question: under what conditions can a constraint in a program be replaced by other constraints, so that the resulting program is strongly equivalent to the original one

Placement generation and hybrid planning for robotic rearrangement on cluttered surfaces

Rearranging multiple moving objects across surfaces, e.g. from a table to kitchen shelves as it arises in the context of service robotics, is a challenging problem. The rearrangement problem consists of two subproblems: placement generation and rearrangement planning. Firstly, the collision-free goal poses of the objects to be moved need to be determined subject to the arbitrary geometries of the objects and the state of the surface that already includes movable objects (clutter) and immovable obstacles on it. Secondly, after the goal poses of all objects have been determined, a plan of physical actions must be computed to achieve these goal poses. Computation of such a rearrangement plan is difficult in that it necessitates not only high-level task planning, but also low-level feasibility checks to be integrated with this task plan to ensure that each step of the plan is collision-free. In this thesis, we propose a general solution to the rearrangement of multiple arbitrarily-shaped objects on a cluttered flat surface with multiple movable objects and obstacles. In particular, we introduce a novel method to solve the object placement problem, utilizing nested local searches guided by intelligent heuristics to efficiently perform multi-objective optimizations. The solutions computed by our method satisfy the collision-freeness constraint, and involves minimal movements of the clutter. Based on such a solution, we introduce a hybrid method to generate an optimal feasible rearrangement plan, by integrating ASP-based high-level task planning with low-level feasibility checks. Our hybrid planner is capable of solving challenging non-monotone rearrangement planning instances that cannot be solved by the existing geometric rearrangement approaches. The proposed algorithms have been systematically evaluated in terms of computational efficiency, solution quality, success rate, and scalability. Furthermore, several challenging benchmark instances have been introduced that demonstrate the capabilities of these methods. The real-life applicability of the proposed approaches have also been verified through physical implementation using a Baxter robot