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Answer set planning
(2022)
Answer Set Planning refers to the use of Answer Set Programming (ASP) to compute plans, that is, solutions to planning problems, that transform a given state of the world to another state. The development of efficient and scalable answer set solvers has provided a significant boost to the development of ASP-based planning systems. This paper surveys the progress made during the last two and a half decades in the area of answer set planning, from its foundations to its use in challenging planning domains. The survey explores the advantages and disadvantages of answer set planning. It also discusses typical applications of answer set planning and presents a set of challenges for future research.
We present a general approach to planning with incomplete information in Answer Set Programming (ASP). More precisely, we consider the problems of conformant and conditional planning with sensing actions and assumptions. We represent planning problems using a simple formalism where logic programs describe the transition function between states, the initial states and the goal states. For solving planning problems, we use Quantified Answer Set Programming (QASP), an extension of ASP with existential and universal quantifiers over atoms that is analogous to Quantified Boolean Formulas (QBFs). We define the language of quantified logic programs and use it to represent the solutions different variants of conformant and conditional planning. On the practical side, we present a translation-based QASP solver that converts quantified logic programs into QBFs and then executes a QBF solver, and we evaluate experimentally the approach on conformant and conditional planning benchmarks.
We elaborate upon the theoretical foundations of a metric temporal extension of Answer Set Programming. In analogy to previous extensions of ASP with constructs from Linear Temporal and Dynamic Logic, we accomplish this in the setting of the logic of Here-and-There and its non-monotonic extension, called Equilibrium Logic. More precisely, we develop our logic on the same semantic underpinnings as its predecessors and thus use a simple time domain of bounded time steps. This allows us to compare all variants in a uniform framework and ultimately combine them in a common implementation.
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.
Eclingo
(2020)
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.
The design of embedded systems is becoming continuously more complex such that efficient system-level design methods are becoming crucial. Recently, combined Answer Set Programming (ASP) and Quantifier Free Integer Difference Logic (QF-IDL) solving has been shown to be a promising approach in system synthesis. However, this approach still has several restrictions limiting its applicability. In the paper at hand, we propose a novel ASP modulo Theories (ASPmT) system synthesis approach, which (i) supports more sophisticated system models, (ii) tightly integrates the QF-IDL solving into the ASP solving, and (iii) makes use of partial assignment checking. As a result, more realistic systems are considered and an early exclusion of infeasible solutions improves the entire system synthesis.
Since 2004, increases in computational power described by Moore's law have substantially been realized in the form of additional cores rather than through faster clock speeds. To make effective use of modern hardware when solving hard computational problems, it is therefore necessary to employ parallel solution strategies. In this work, we demonstrate how effective parallel solvers for propositional satisfiability (SAT), one of the most widely studied NP-complete problems, can be produced automatically from any existing sequential, highly parametric SAT solver. Our Automatic Construction of Parallel Portfolios (ACPP) approach uses an automatic algorithm configuration procedure to identify a set of configurations that perform well when executed in parallel. Applied to two prominent SAT solvers, Lingeling and clasp, our ACPP procedure identified 8-core solvers that significantly outperformed their sequential counterparts on a diverse set of instances from the application and hard combinatorial category of the 2012 SAT Challenge. We further extended our ACPP approach to produce parallel portfolio solvers consisting of several different solvers by combining their configuration spaces. Applied to the component solvers of the 2012 SAT Challenge gold medal winning SAT Solver pfolioUZK, our ACPP procedures produced a significantly better-performing parallel SAT solver.
Utilizing quad-trees for efficient design space exploration with partial assignment evaluation
(2018)
Recently, it has been shown that constraint-based symbolic solving techniques offer an efficient way for deciding binding and routing options in order to obtain a feasible system level implementation. In combination with various background theories, a feasibility analysis of the resulting system may already be performed on partial solutions. That is, infeasible subsets of mapping and routing options can be pruned early in the decision process, which fastens the solving accordingly. However, allowing a proper design space exploration including multi-objective optimization also requires an efficient structure for storing and managing non-dominated solutions. In this work, we propose and study the usage of the Quad-Tree data structure in the context of partial assignment evaluation during system synthesis. Out experiments show that unnecessary dominance checks can be avoided, which indicates a preference of Quad-Trees over a commonly used list-based implementation for large combinatorial optimization problems.
An efficient Design Space Exploration (DSE) is imperative for the design of modern, highly complex embedded systems in order to steer the development towards optimal design points. The early evaluation of design decisions at system-level abstraction layer helps to find promising regions for subsequent development steps in lower abstraction levels by diminishing the complexity of the search problem. In recent works, symbolic techniques, especially Answer Set Programming (ASP) modulo Theories (ASPmT), have been shown to find feasible solutions of highly complex system-level synthesis problems with non-linear constraints very efficiently. In this paper, we present a novel approach to a holistic system-level DSE based on ASPmT. To this end, we include additional background theories that concurrently guarantee compliance with hard constraints and perform the simultaneous optimization of several design objectives. We implement and compare our approach with a state-of-the-art preference handling framework for ASP. Experimental results indicate that our proposed method produces better solutions with respect to both diversity and convergence to the true Pareto front.
Logical modeling has been widely used to understand and expand the knowledge about protein interactions among different pathways. Realizing this, the caspo-ts system has been proposed recently to learn logical models from time series data. It uses Answer Set Programming to enumerate Boolean Networks (BNs) given prior knowledge networks and phosphoproteomic time series data. In the resulting sequence of solutions, similar BNs are typically clustered together. This can be problematic for large scale problems where we cannot explore the whole solution space in reasonable time. Our approach extends the caspo-ts system to cope with the important use case of finding diverse solutions of a problem with a large number of solutions. We first present the algorithm for finding diverse solutions and then we demonstrate the results of the proposed approach on two different benchmark scenarios in systems biology: (1) an artificial dataset to model TCR signaling and (2) the HPN-DREAM challenge dataset to model breast cancer cell lines.
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.
Declarative languages for knowledge representation and reasoning provide constructs to define preference relations over the set of possible interpretations, so that preferred models represent optimal solutions of the encoded problem. We introduce the notion of approximation for replacing preference relations with stronger preference relations, that is, relations comparing more pairs of interpretations. Our aim is to accelerate the computation of a non-empty subset of the optimal solutions by means of highly specialized algorithms. We implement our approach in Answer Set Programming (ASP), where problems involving quantitative and qualitative preference relations can be addressed by ASPRIN, implementing a generic optimization algorithm. Unlike this, chains of approximations allow us to reduce several preference relations to the preference relations associated with ASP’s native weak constraints and heuristic directives. In this way, ASPRIN can now take advantage of several highly optimized algorithms implemented by ASP solvers for computing optimal solutions
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.
We present a system-level synthesis approach for heterogeneous multi-processor on chip, based on Answer Set Programming(ASP). Starting with a high-level description of an application, its timing constraints and the physical constraints of the target device, our goal is to produce the optimal computing infrastructure made of heterogeneous processors, peripherals, memories and communication components. Optimization aims at maximizing speed, while minimizing chip area. Also, a scheduler must be produced that fulfills the real-time requirements of the application. Even though our approach will work for application specific integrated circuits, we have chosen FPGA as target device in this work because of their reconfiguration capabilities which makes it possible to explore several design alternatives. This paper addresses the bottleneck of problem representation size by providing a direct and compact ASP encoding for automatic synthesis that is semantically equivalent to previously established ILP and ASP models. We describe a use-case in which designers specify their applications in C/C++ from which optimum systems can be derived. We demonstrate the superiority of our approach toward existing heuristics and exact methods with synthesis results on a set of realistic case studies. (C) 2018 Elsevier Inc. All rights reserved.
We introduce the asprilo1 framework to facilitate experimental studies of approaches addressing complex dynamic applications. For this purpose, we have chosen the domain of robotic intra-logistics. This domain is not only highly relevant in the context of today's fourth industrial revolution but it moreover combines a multitude of challenging issues within a single uniform framework. This includes multi-agent planning, reasoning about action, change, resources, strategies, etc. In return, asprilo allows users to study alternative solutions as regards effectiveness and scalability. Although asprilo relies on Answer Set Programming and Python, it is readily usable by any system complying with its fact-oriented interface format. This makes it attractive for benchmarking and teaching well beyond logic programming. More precisely, asprilo consists of a versatile benchmark generator, solution checker and visualizer as well as a bunch of reference encodings featuring various ASP techniques. Importantly, the visualizer's animation capabilities are indispensable for complex scenarios like intra-logistics in order to inspect valid as well as invalid solution candidates. Also, it allows for graphically editing benchmark layouts that can be used as a basis for generating benchmark suites.
In this paper, we introduce an alternative approach to Temporal Answer Set Programming that relies on a variation of Temporal Equilibrium Logic (TEL) for finite traces. This approach allows us to even out the expressiveness of TEL over infinite traces with the computational capacity of (incremental) Answer Set Programming (ASP). Also, we argue that finite traces are more natural when reasoning about action and change. As a result, our approach is readily implementable via multi-shot ASP systems and benefits from an extension of ASP's full-fledged input language with temporal operators. This includes future as well as past operators whose combination offers a rich temporal modeling language. For computation, we identify the class of temporal logic programs and prove that it constitutes a normal form for our approach. Finally, we outline two implementations, a generic one and an extension of the ASP system clingo.
Under consideration for publication in Theory and Practice of Logic Programming (TPLP)
Automated storage and retrieval systems are principal components of modern production and warehouse facilities. In particular, automated guided vehicles nowadays substitute human-operated pallet trucks in transporting production materials between storage locations and assembly stations. While low-level control systems take care of navigating such driverless vehicles along programmed routes and avoid collisions even under unforeseen circumstances, in the common case of multiple vehicles sharing the same operation area, the problem remains how to set up routes such that a collection of transport tasks is accomplished most effectively. We address this prevalent problem in the context of car assembly at Mercedes-Benz Ludwigsfelde GmbH, a large-scale producer of commercial vehicles, where routes for automated guided vehicles used in the production process have traditionally been hand-coded by human engineers. Such adhoc methods may suffice as long as a running production process remains in place, while any change in the factory layout or production targets necessitates tedious manual reconfiguration, not to mention the missing portability between different production plants. Unlike this, we propose a declarative approach based on Answer Set Programming to optimize the routes taken by automated guided vehicles for accomplishing transport tasks. The advantages include a transparent and executable problem formalization, provable optimality of routes relative to objective criteria, as well as elaboration tolerance towards particular factory layouts and production targets. Moreover, we demonstrate that our approach is efficient enough to deal with the transport tasks evolving in realistic production processes at the car factory of Mercedes-Benz Ludwigsfelde GmbH.
The aim of our project design space exploration with answer set programming is to develop a general framework based on Answer Set Programming (ASP) that finds valid solutions to the system design problem and simultaneously performs Design Space Exploration (DSE) to find the most favorable alternatives. We leverage recent developments in ASP solving that allow for tight integration of background theories to create a holistic framework for effective DSE.