Related papers: ROSoClingo: A ROS package for ASP-based robot cont…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
We present the hybrid ASP solver clingcon, combining the simple modeling language and the high performance Boolean solving capacities of Answer Set Programming (ASP) with techniques for using non-Boolean constraints from the area of…
Answer Set Programming (ASP) with stable model semantics has proven highly effective for knowledge representation and reasoning. However, the minimality requirement of stable models can be restrictive for applications requiring exploration…
Designing agents that reason and act upon the world has always been one of the main objectives of the Artificial Intelligence community. While for planning in "simple" domains the agents can solely rely on facts about the world, in several…
Answer Set Programming (ASP) is a widely used declarative programming paradigm that has shown great potential in solving complex computational problems. However, the inability to natively support non-integer arithmetic has been highlighted…
Automated legal reasoning and its application in smart contracts and automated decisions are increasingly attracting interest. In this context, ethical and legal concerns make it necessary for automated reasoners to justify in…
Answer Set Programming (ASP) is a popular declarative reasoning and problem solving approach in symbolic AI. Its rule-based formalism makes it inherently attractive for explainable and interpretive reasoning, which is gaining importance…
The advance of Internet and Sensor technology has brought about new challenges evoked by the emergence of continuous data streams. Beyond rapid data processing, application areas like ambient assisted living, robotics, or dynamic scheduling…
Answer Set Programming (ASP) is a well-established declarative problem solving paradigm which became widely used in AI and recognized as a powerful tool for knowledge representation and reasoning (KRR), especially for its high…
The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build…
Reactive answer set programming has paved the way for incorporating online information into operative solving processes. Although this technology was originally devised for dealing with data streams in dynamic environments, like assisted…
ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software's…
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…
Answer Set Programming (ASP) is a declarative problem solving paradigm that can be used to encode a combinatorial problem as a logic program whose stable models correspond to the solutions of the considered problem. ASP has been widely…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
Service robots are expected to reliably make sense of complex, fast-changing environments. From a cognitive standpoint, they need the appropriate reasoning capabilities and background knowledge required to exhibit human-like Visual…
Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
The advancement of robotic systems has revolutionized numerous industries, yet their operation often demands specialized technical knowledge, limiting accessibility for non-expert users. This paper introduces ROSA (Robot Operating System…
In complex reasoning tasks, as expressible by Answer Set Programming (ASP), problems often permit for multiple solutions. In dynamic environments, where knowledge is continuously changing, the question arises how a given model can be…