Related papers: CASP Solutions for Planning in Hybrid Domains
We present a solution to real-world train scheduling problems, involving routing, scheduling, and optimization, based on Answer Set Programming (ASP). To this end, we pursue a hybrid approach that extends ASP with difference constraints to…
In this paper, we present domain-specific languages (DSLs) that we devised for their use in the implementation of a finite domain constraint programming system, available as library(clpfd) in SWI-Prolog and YAP-Prolog. These DSLs are used…
Approximate linear programming (ALP) and its variants have been widely applied to Markov Decision Processes (MDPs) with a large number of states. A serious limitation of ALP is that it has an intractable number of constraints, as a result…
Computer Aided Control System Design (CACSD) allows to analyze complex interconnected systems and design controllers achieving challenging control requirements. We extend CACSD to systems with time delays and illustrate the functionality of…
Planning in code is considered a more reliable approach for many orchestration tasks. This is because code is more tractable than steps generated via Natural Language and make it easy to support more complex sequences by abstracting…
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the system state and commands. Such decision-making problems can be…
Non-stationary domains, that change in unpredicted ways, are a challenge for agents searching for optimal policies in sequential decision-making problems. This paper presents a combination of Markov Decision Processes (MDP) with Answer Set…
Recent advances in symbolic dynamic programming (SDP) combined with the extended algebraic decision diagram (XADD) data structure have provided exact solutions for mixed discrete and continuous (hybrid) MDPs with piecewise linear dynamics…
We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and…
Adapting techniques from database theory in order to optimize Answer Set Programming (ASP) systems, and in particular the grounding components of ASP systems, is an important topic in ASP. In recent years, the Magic Set method has received…
Practically all of the planning research is limited to states represented in terms of Boolean and numeric state variables. Many practical problems, for example, planning inside complex software systems, require far more complex data types,…
Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…
Goal-directed evaluation of Answer Set Programs is gaining traction thanks to its amenability to create AI systems that can, due to the evaluation mechanism used, generate explanations and justifications. s(CASP) is one of these systems and…
In recent years research in the planning community has moved increasingly toward s application of planners to realistic problems involving both time and many typ es of resources. For example, interest in planning demonstrated by the space…
Nowadays, it has become a basic need to reuse existing Application Programming Interface (API), Class Libraries, and frameworks for rapid software development. Software developers often reuse this by calling the respective APIs or…
The CLP scheme uses Horn clauses and SLD resolution to generate multiple constraint satisfaction problems (CSPs). The possible CSPs include rational trees (giving Prolog) and numerical algorithms for solving linear equations and linear…
Domain-Driven Solver (DDS) is a MATLAB-based software package for convex optimization problems in Domain-Driven form [Karimi and Tun\c{c}el, arXiv:1804.06925]. The current version of DDS accepts every combination of the following…
This paper reviews the connections between Graphplan's planning-graph and the dynamic constraint satisfaction problem and motivates the need for adapting CSP search techniques to the Graphplan algorithm. It then describes how explanation…
Many automated planning methods and formulations rely on suitably designed abstractions or simplifications of the constrained dynamics associated with agents to attain computational scalability. We consider formulations of temporal planning…
Reasoning about dynamic systems with a fine-grained temporal and numeric resolution presents significant challenges for logic-based approaches like Answer Set Programming (ASP). To address this, we introduce and elaborate upon a novel…