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

Rewritings in Polarized (Partial) Proof Structures

This paper is a first step towards a study for a concurrent construction of proof-nets in the framework of linear logic after Andreoli's works, by taking care of the properties of the structures. We limit here to multiplicative linear logic. We first give a criterion for closed modules (i.e. validity of polarized proof structures), then extend it to open modules (i.e. validity of partial proof structures) distinguishing criteria for acyclicity and connectability. The keypoint is an extensive use of the fundamental structural properties of the logics. We consider proof structures as built from n-ary bipolar objects and we show that strongly confluent (local) reductions on such objects are an elegant answer to the correctness problem. This has natural applications in (concurrent) logic programming

Reasoning about Cardinal Directions between 3-Dimensional Extended Objects using Answer Set Programming

We propose a novel formal framework (called 3D-nCDC-ASP) to represent and reason about cardinal directions between extended objects in 3-dimensional (3D) space, using Answer Set Programming (ASP). 3D-nCDC-ASP extends Cardinal Directional Calculus (CDC) with a new type of default constraints, and nCDC-ASP to 3D. 3D-nCDC-ASP provides a flexible platform offering different types of reasoning: Nonmonotonic reasoning with defaults, checking consistency of a set of constraints on 3D cardinal directions between objects, explaining inconsistencies, and inferring missing CDC relations. We prove the soundness of 3D-nCDC-ASP, and illustrate its usefulness with applications. This paper is under consideration for acceptance in TPLP.Comment: Paper presented at the 36th International Conference on Logic Programming (ICLP 2020), University Of Calabria, Rende (CS), Italy, September 2020, 29 pages, 6 figure

D-LITe : Distributed Logic for Internet of Things sErvices

International audienceSmartphones, PDA, Sensors, Actuators, Phidgets and Smart Objects (i.e. objects with processing and networking capabilities) are more and more present in everyday's life. Merging all these technologies with the Internet is often described as 'Internet of Things' (IoT). In the IoT vision, Things around us provide a pervasive network of interacting and interconnected devices. However building IoT applications is a long and arduous work, reserved for specialists, requiring specific knowledges in terms of network protocols and programming languages. The lack of widespread and easy-to-configure solutions is an obstacle for the development of this area. A universal framework, offering simplification and standardization, could facilitate the emergence of this promising field in terms of applications and business. IoT needs a solid foundation for rapid, simple development and deployment of new services. In this paper, we present DLITe, a universal framework for building IoT applications over heterogeneous sets of small devices. D-LITe offers solutions for deploying application's logic, and executing it on Smart Objects despite their heterogeneity. An implementation of DLITe on tiny devices, such as TelosB motes, allows to show that our framework is realistic even with the constraints of such devices

A logic programming framework for modeling temporal objects

Published versio