21,654 research outputs found
An Enhanced Features Extractor for a Portfolio of Constraint Solvers
Recent research has shown that a single arbitrarily efficient solver can be
significantly outperformed by a portfolio of possibly slower on-average
solvers. The solver selection is usually done by means of (un)supervised
learning techniques which exploit features extracted from the problem
specification. In this paper we present an useful and flexible framework that
is able to extract an extensive set of features from a Constraint
(Satisfaction/Optimization) Problem defined in possibly different modeling
languages: MiniZinc, FlatZinc or XCSP. We also report some empirical results
showing that the performances that can be obtained using these features are
effective and competitive with state of the art CSP portfolio techniques
Symmetry Breaking for Answer Set Programming
In the context of answer set programming, this work investigates symmetry
detection and symmetry breaking to eliminate symmetric parts of the search
space and, thereby, simplify the solution process. We contribute a reduction of
symmetry detection to a graph automorphism problem which allows to extract
symmetries of a logic program from the symmetries of the constructed coloured
graph. We also propose an encoding of symmetry-breaking constraints in terms of
permutation cycles and use only generators in this process which implicitly
represent symmetries and always with exponential compression. These ideas are
formulated as preprocessing and implemented in a completely automated flow that
first detects symmetries from a given answer set program, adds
symmetry-breaking constraints, and can be applied to any existing answer set
solver. We demonstrate computational impact on benchmarks versus direct
application of the solver.
Furthermore, we explore symmetry breaking for answer set programming in two
domains: first, constraint answer set programming as a novel approach to
represent and solve constraint satisfaction problems, and second, distributed
nonmonotonic multi-context systems. In particular, we formulate a
translation-based approach to constraint answer set solving which allows for
the application of our symmetry detection and symmetry breaking methods. To
compare their performance with a-priori symmetry breaking techniques, we also
contribute a decomposition of the global value precedence constraint that
enforces domain consistency on the original constraint via the unit-propagation
of an answer set solver. We evaluate both options in an empirical analysis. In
the context of distributed nonmonotonic multi-context system, we develop an
algorithm for distributed symmetry detection and also carry over
symmetry-breaking constraints for distributed answer set programming.Comment: Diploma thesis. Vienna University of Technology, August 201
Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators
The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction
Answer Set Planning Under Action Costs
Recently, planning based on answer set programming has been proposed as an
approach towards realizing declarative planning systems. In this paper, we
present the language Kc, which extends the declarative planning language K by
action costs. Kc provides the notion of admissible and optimal plans, which are
plans whose overall action costs are within a given limit resp. minimum over
all plans (i.e., cheapest plans). As we demonstrate, this novel language allows
for expressing some nontrivial planning tasks in a declarative way.
Furthermore, it can be utilized for representing planning problems under other
optimality criteria, such as computing ``shortest'' plans (with the least
number of steps), and refinement combinations of cheapest and fastest plans. We
study complexity aspects of the language Kc and provide a transformation to
logic programs, such that planning problems are solved via answer set
programming. Furthermore, we report experimental results on selected problems.
Our experience is encouraging that answer set planning may be a valuable
approach to expressive planning systems in which intricate planning problems
can be naturally specified and solved
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An Ontological formalization of the planning task
In this paper we propose a generic task ontology, which formalizes the space of planning problems. Although planning is one of the oldest researched areas in Artificial Intelligence and attempts have been made in the past at developing task ontologies for planning, these formalizations suffer from serious limitations: they do not exhibit the required level of formalization and precision and they usually fail to include some of the key concepts required for specifying planning problems. In con-trast with earlier proposals, our task ontology formalizes the nature of the planning task independently of any planning paradigm, specific domains, or applications and provides a fine-grained, precise and comprehensive characterization of the space of planning problems. Finally, in addition to producing a formal specification we have also operationalized the ontology into a set of executable definitions, which provide a concrete reusable resource for knowledge acquisition and system development in planning applications
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