Spatial Intelligence of a Self-driving Car and Rule-Based Decision Making

In this paper we show how rule-based decision making can be combined with traditional motion planning techniques to achieve human-like behavior of a self-driving vehicle in complex traffic situations. We give and discuss examples of decision rules in autonomous driving. We draw on these examples to illustrate that developing techniques for spatial awareness of robots is an exciting activity which deserves more attention from spatial reasoning community that it had received so far

On (in)tractability of OBDA with OWL 2 QL

We show that, although conjunctive queries over OWL 2 QL ontologies are reducible to database queries, no algorithm can construct such a reduction in polynomial time without changing the data. On the other hand, we give a polynomial reduction for OWL2QL ontologies without role inclusions

The decision problem of modal product logics with a diagonal, and faulty counter machines

In the propositional modal (and algebraic) treatment of two-variable first-order logic equality is modelled by a `diagonal' constant, interpreted in square products of universal frames as the identity (also known as the `diagonal') relation. Here we study the decision problem of products of two arbitrary modal logics equipped with such a diagonal. As the presence or absence of equality in two-variable first-order logic does not influence the complexity of its satisfiability problem, one might expect that adding a diagonal to product logics in general is similarly harmless. We show that this is far from being the case, and there can be quite a big jump in complexity, even from decidable to the highly undecidable. Our undecidable logics can also be viewed as new fragments of first- order logic where adding equality changes a decidable fragment to undecidable. We prove our results by a novel application of counter machine problems. While our formalism apparently cannot force reliable counter machine computations directly, the presence of a unique diagonal in the models makes it possible to encode both lossy and insertion-error computations, for the same sequence of instructions. We show that, given such a pair of faulty computations, it is then possible to reconstruct a reliable run from them

Tree-like Queries in OWL 2 QL: Succinctness and Complexity Results

This paper investigates the impact of query topology on the difficulty of answering conjunctive queries in the presence of OWL 2 QL ontologies. Our first contribution is to clarify the worst-case size of positive existential (PE), non-recursive Datalog (NDL), and first-order (FO) rewritings for various classes of tree-like conjunctive queries, ranging from linear queries to bounded treewidth queries. Perhaps our most surprising result is a superpolynomial lower bound on the size of PE-rewritings that holds already for linear queries and ontologies of depth 2. More positively, we show that polynomial-size NDL-rewritings always exist for tree-shaped queries with a bounded number of leaves (and arbitrary ontologies), and for bounded treewidth queries paired with bounded depth ontologies. For FO-rewritings, we equate the existence of polysize rewritings with well-known problems in Boolean circuit complexity. As our second contribution, we analyze the computational complexity of query answering and establish tractability results (either NL- or LOGCFL-completeness) for a range of query-ontology pairs. Combining our new results with those from the literature yields a complete picture of the succinctness and complexity landscapes for the considered classes of queries and ontologies.Comment: This is an extended version of a paper accepted at LICS'15. It contains both succinctness and complexity results and adopts FOL notation. The appendix contains proofs that had to be omitted from the conference version for lack of space. The previous arxiv version (a long version of our DL'14 workshop paper) only contained the succinctness results and used description logic notatio

On the Succinctness of Query Rewriting over OWL 2 QL Ontologies with Shallow Chases

We investigate the size of first-order rewritings of conjunctive queries over OWL 2 QL ontologies of depth 1 and 2 by means of hypergraph programs computing Boolean functions. Both positive and negative results are obtained. Conjunctive queries over ontologies of depth 1 have polynomial-size nonrecursive datalog rewritings; tree-shaped queries have polynomial positive existential rewritings; however, in the worst case, positive existential rewritings can only be of superpolynomial size. Positive existential and nonrecursive datalog rewritings of queries over ontologies of depth 2 suffer an exponential blowup in the worst case, while first-order rewritings are superpolynomial unless $\text{NP} \subseteq \text{P}/\text{poly}$. We also analyse rewritings of tree-shaped queries over arbitrary ontologies and observe that the query entailment problem for such queries is fixed-parameter tractable

Exponential Lower Bounds and Separation for Query Rewriting

We establish connections between the size of circuits and formulas computing monotone Boolean functions and the size of first-order and nonrecursive Datalog rewritings for conjunctive queries over OWL 2 QL ontologies. We use known lower bounds and separation results from circuit complexity to prove similar results for the size of rewritings that do not use non-signature constants. For example, we show that, in the worst case, positive existential and nonrecursive Datalog rewritings are exponentially longer than the original queries; nonrecursive Datalog rewritings are in general exponentially more succinct than positive existential rewritings; while first-order rewritings can be superpolynomially more succinct than positive existential rewritings

Query rewriting over shallow ontologies

We investigate the size of rewritings of conjunctive queries over OWL2QL ontologies of depth 1 and 2 by means of a new hypergraph formalism for computing Boolean functions. Both positive and negative results are obtained. All conjunctive queries over ontologies of depth 1 have polynomial-size nonrecursive datalog rewritings; tree-shaped queries have polynomial-size positive existential rewritings; however, for some queries and ontologies of depth 1, positive existential rewritings can only be of superpolynomial size. Both positive existential and nonrecursive datalog rewritings of conjunctive queries and ontologies of depth 2 suffer an exponential blowup in the worst case, while first-order rewritings can grow superpolynomially unless NP is included in� P/poly