TY - GEN A1 - Schäpers, Björn A1 - Niemueller, Tim A1 - Lakemeyer, Gerhard A1 - Gebser, Martin A1 - Schaub, Torsten T1 - ASP-Based Time-Bounded Planning for Logistics Robots T2 - Twenty-Eighth International Conference on Automated Planning and Scheduling (ICAPS 2018) N2 - Manufacturing industries are undergoing a major paradigm shift towards more autonomy. Automated planning and scheduling then becomes a necessity. The Planning and Execution Competition for Logistics Robots in Simulation held at ICAPS is based on this scenario and provides an interesting testbed. However, the posed problem is challenging as also demonstrated by the somewhat weak results in 2017. The domain requires temporal reasoning and dealing with uncertainty. We propose a novel planning system based on Answer Set Programming and the Clingo solver to tackle these problems and incentivize robot cooperation. Our results show a significant performance improvement, both, in terms of lowering computational requirements and better game metrics. Y1 - 2018 SN - 2334-0835 SN - 2334-0843 SP - 509 EP - 517 PB - ASSOC Association for the Advancement of Artificial Intelligence CY - Palo Alto ER - TY - GEN A1 - Bosser, Anne-Gwenn A1 - Cabalar, Pedro A1 - Dieguez, Martin A1 - Schaub, Torsten T1 - Introducing temporal stable models for linear dynamic logic T2 - 16th International Conference on Principles of Knowledge Representation and Reasoning N2 - We propose a new temporal extension of the logic of Here-and-There (HT) and its equilibria obtained by combining it with dynamic logic over (linear) traces. Unlike previous temporal extensions of HT based on linear temporal logic, the dynamic logic features allow us to reason about the composition of actions. For instance, this can be used to exercise fine grained control when planning in robotics, as exemplified by GOLOG. In this paper, we lay the foundations of our approach, and refer to it as Linear Dynamic Equilibrium Logic, or simply DEL. We start by developing the formal framework of DEL and provide relevant characteristic results. Among them, we elaborate upon the relationships to traditional linear dynamic logic and previous temporal extensions of HT. Y1 - 2018 UR - https://www.dc.fi.udc.es/~cabalar/del.pdf SP - 12 EP - 21 PB - ASSOC Association for the Advancement of Artificial Intelligence CY - Palo Alto ER - TY - JOUR A1 - Cabalar, Pedro A1 - Fandiño, Jorge A1 - Garea, Javier A1 - Romero, Javier A1 - Schaub, Torsten T1 - Eclingo BT - a solver for epistemic logic programs JF - Theory and practice of logic programming N2 - We describe eclingo, a solver for epistemic logic programs under Gelfond 1991 semantics built upon the Answer Set Programming system clingo. The input language of eclingo uses the syntax extension capabilities of clingo to define subjective literals that, as usual in epistemic logic programs, allow for checking the truth of a regular literal in all or in some of the answer sets of a program. The eclingo solving process follows a guess and check strategy. It first generates potential truth values for subjective literals and, in a second step, it checks the obtained result with respect to the cautious and brave consequences of the program. This process is implemented using the multi-shot functionalities of clingo. We have also implemented some optimisations, aiming at reducing the search space and, therefore, increasing eclingo 's efficiency in some scenarios. Finally, we compare the efficiency of eclingo with two state-of-the-art solvers for epistemic logic programs on a pair of benchmark scenarios and show that eclingo generally outperforms their obtained results. KW - Answer Set Programming KW - Epistemic Logic Programs KW - Non-Monotonic KW - Reasoning KW - Conformant Planning Y1 - 2020 U6 - https://doi.org/10.1017/S1471068420000228 SN - 1471-0684 SN - 1475-3081 VL - 20 IS - 6 SP - 834 EP - 847 PB - Cambridge Univ. Press CY - New York ER - TY - THES A1 - Kaminski, Roland T1 - Complex reasoning with answer set programming N2 - Answer Set Programming (ASP) allows us to address knowledge-intensive search and optimization problems in a declarative way due to its integrated modeling, grounding, and solving workflow. A problem is modeled using a rule based language and then grounded and solved. Solving results in a set of stable models that correspond to solutions of the modeled problem. In this thesis, we present the design and implementation of the clingo system---perhaps, the most widely used ASP system. It features a rich modeling language originating from the field of knowledge representation and reasoning, efficient grounding algorithms based on database evaluation techniques, and high performance solving algorithms based on Boolean satisfiability (SAT) solving technology. The contributions of this thesis lie in the design of the modeling language, the design and implementation of the grounding algorithms, and the design and implementation of an Application Programmable Interface (API) facilitating the use of ASP in real world applications and the implementation of complex forms of reasoning beyond the traditional ASP workflow. KW - Answer Set Programming KW - Declarative Problem Solving KW - Grounding Theory KW - Preference Handling KW - Answer Set Solving modulo Theories KW - Temporal Answer Set Solving Y1 - 2023 ER - TY - JOUR A1 - Mileo, Alessandra A1 - Schaub, Torsten A1 - Merico, Davide A1 - Bisiani, Roberto T1 - Knowledge-based multi-criteria optimization to support indoor positioning JF - Annals of mathematics and artificial intelligence N2 - Indoor position estimation constitutes a central task in home-based assisted living environments. Such environments often rely on a heterogeneous collection of low-cost sensors whose diversity and lack of precision has to be compensated by advanced techniques for localization and tracking. Although there are well established quantitative methods in robotics and neighboring fields for addressing these problems, they lack advanced knowledge representation and reasoning capacities. Such capabilities are not only useful in dealing with heterogeneous and incomplete information but moreover they allow for a better inclusion of semantic information and more general homecare and patient-related knowledge. We address this problem and investigate how state-of-the-art localization and tracking methods can be combined with Answer Set Programming, as a popular knowledge representation and reasoning formalism. We report upon a case-study and provide a first experimental evaluation of knowledge-based position estimation both in a simulated as well as in a real setting. KW - Knowledge representation KW - Answer Set Programming KW - Wireless Sensor Networks KW - Localization KW - Tracking Y1 - 2011 U6 - https://doi.org/10.1007/s10472-011-9241-2 SN - 1012-2443 SN - 1573-7470 VL - 62 IS - 3-4 SP - 345 EP - 370 PB - Springer CY - Dordrecht ER - TY - JOUR A1 - Fandiño, Jorge A1 - Lifschitz, Vladimir A1 - Lühne, Patrick A1 - Schaub, Torsten T1 - Verifying tight logic programs with Anthem and Vampire JF - Theory and practice of logic programming N2 - This paper continues the line of research aimed at investigating the relationship between logic programs and first-order theories. We extend the definition of program completion to programs with input and output in a subset of the input language of the ASP grounder gringo, study the relationship between stable models and completion in this context, and describe preliminary experiments with the use of two software tools, anthem and vampire, for verifying the correctness of programs with input and output. Proofs of theorems are based on a lemma that relates the semantics of programs studied in this paper to stable models of first-order formulas. Y1 - 2020 U6 - https://doi.org/10.1017/S1471068420000344 SN - 1471-0684 SN - 1475-3081 VL - 20 IS - 5 SP - 735 EP - 750 PB - Cambridge Univ. Press CY - Cambridge [u.a.] ER - TY - JOUR A1 - Delgrande, James Patrick A1 - Schaub, Torsten T1 - A consistency-based model for belief change: preliminary report Y1 - 2000 UR - http://xxx.lanl.gov/abs/cs.AI/0003052 ER - TY - JOUR A1 - Delgrande, James Patrick A1 - Schaub, Torsten T1 - The role of default logic in knowledge representation Y1 - 2000 SN - 0-7923-7224-7 ER - TY - JOUR A1 - Delgrande, James Patrick A1 - Schaub, Torsten T1 - How to reason credulously and skeptically within a single extension Y1 - 2001 ER - TY - JOUR A1 - Schaub, Torsten A1 - Wang, Kewen T1 - A comparative study of logic programs with preference Y1 - 2001 ER -