Related papers: ROSoClingo: A ROS package for ASP-based robot cont…
Symbolic reasoning systems have been used in cognitive architectures to provide inference and planning capabilities. However, defining domains and problems has proven difficult and prone to errors. Moreover, Large Language Models (LLMs)…
Traditional Answer Set Programming (ASP) rests upon one-shot solving. A logic program is fed into an ASP system and its stable models are computed. The high practical relevance of dynamic applications led to the development of multi-shot…
Temporal and dynamic extensions of Answer Set Programming (ASP) have played an important role in addressing dynamic problems, as they allow the use of temporal operators to reason with dynamic scenarios in a very effective way. In my Ph.D.…
Long-horizon robotic manipulation poses significant challenges for autonomous systems, requiring extended reasoning, precise execution, and robust error recovery across complex sequential tasks. Current approaches, whether based on static…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
The development of large language models (LLMs), such as GPT, has enabled the construction of several socialbots, like ChatGPT, that are receiving a lot of attention for their ability to simulate a human conversation. However, the…
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even "batch size 1" in production created a need for robot control system…
We present an ongoing project that aims to develop a social robot to help children cope with painful and distressing medical procedures in a clinical setting. Our approach uses automated planning as a core component for action selection in…
We present ReAct!, an interactive tool for high-level reasoning for cognitive robotic applications. ReAct! enables robotic researchers to describe robots' actions and change in dynamic domains, without having to know about the syntactic and…
Personal service robots are increasingly used in domestic settings to assist older adults and people requiring support. Effective operation involves not only physical interaction but also the ability to interpret dynamic environments,…
In recent years, various intelligent autonomous robots have begun to appear in daily life and production. Desktop-level robots are characterized by their flexible deployment, rapid response, and suitability for light workload environments.…
In this paper, we examine the use of Conformal Language Modelling (CLM) alongside Answer Set Programming (ASP) to enhance the performance of standard open-weight LLMs on complex multi-step reasoning tasks. Using the StepGame dataset, which…
Answer Set Programming (ASP) is a popular declarative programming language for solving hard combinatorial problems. Although ASP has gained widespread acceptance in academic and industrial contexts, there are certain user groups who may…
Modern manufacturing under High-Mix-Low-Volume requirements increasingly relies on flexible and adaptive matrix production systems, which depend on interconnected heterogeneous devices and rapid task reconfiguration. To address these needs,…
A robot's actions are inherently stochastic, as its sensors are noisy and its actions do not always have the intended effects. For this reason, the agent language Golog has been extended to models with degrees of belief and stochastic…
Foundational models have advanced social robotics, enabling richer perception and communicative interaction with users. However, current systems still struggle with multi-turn engagement, social-relationship reasoning, and contextually…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
The paper presents an enhancement of xASP, a system that generates explanation graphs for Answer Set Programming (ASP). Different from xASP, the new system, xASP2, supports different clingo constructs like the choice rules, the constraints,…
As the robotics systems increasingly integrate into daily life, from smart home assistants to the new-wave of industrial automation systems (Industry 4.0), there's an increasing need to bridge the gap between complex robotic systems and…