arXiv subjects

Marco Maratea

Publications and source records attributed to Marco Maratea.

27 records · Page 2Linked to original sources

arXiv2018

CASP Solutions for Planning in Hybrid Domains

CASP is an extension of ASP that allows for numerical constraints to be added in the rules. PDDL+ is an extension of the PDDL standard language of automated planning for modeling mixed discrete-continuous dynamics. In this paper, we present CASP solutions for dealing with PDDL+ problems, i.e., encoding from PDDL+ to CASP, and extensions to the algorithm of the EZCSP CASP solver in order to solve CASP programs arising from PDDL+ domains. An experimental analysis, performed on well-known linear and non-linear variants of PDDL+ domains, involving various configurations of the EZCSP solver, other CASP solvers, and PDDL+ planners, shows the viability of our solution.

cs.AI↗

arXiv2018

Cautious reasoning in ASP via minimal models and unsatisfiable cores

Answer Set Programming (ASP) is a logic-based knowledge representation framework, supporting---among other reasoning modes---the central task of query answering. In the propositional case, query answering amounts to computing cautious consequences of the input program among the atoms in a given set of candidates, where a cautious consequence is an atom belonging to all stable models. Currently, the most efficient algorithms either iteratively verify the existence of a stable model of the input program extended with the complement of one candidate, where the candidate is heuristically selected, or introduce a clause enforcing the falsity of at least one candidate, so that the solver is free to choose which candidate to falsify at any time during the computation of a stable model. This paper introduces new algorithms for the computation of cautious consequences, with the aim of driving the solver to search for stable models discarding more candidates. Specifically, one of such algorithms enforces minimality on the set of true candidates, where different notions of minimality can be used, and another takes advantage of unsatisfiable cores computation. The algorithms are implemented in WASP, and experiments on benchmarks from the latest ASP competitions show that the new algorithms perform better than the state of the art. (Under consideration for acceptance in TPLP).

cs.LO↗

arXiv2018

Shared aggregate sets in answer set programming

Aggregates are among the most frequently used linguistic extensions of answer set programming. The result of an aggregation may introduce new constants during the instantiation of the input program, a feature known as value invention. When the aggregation involves literals whose truth value is undefined at instantiation time, modern grounders introduce several instances of the aggregate, one for each possible interpretation of the undefined literals. This paper introduces new data structures and techniques to handle such cases, and more in general aggregations on the same aggregate set identified in the ground program in input. The proposed solution reduces the memory footprint of the solver without sacrificing efficiency. On the contrary, the performance of the solver may improve thanks to the addition of some simple entailed clauses which are not easily discovered otherwise, and since redundant computation is avoided during propagation. Empirical evidence of the potential impact of the proposed solution is given. (Under consideration for acceptance in TPLP).

cs.LO↗

arXiv2018

On the manipulation of articulated objects in human-robot cooperation scenarios

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and flexible objects employ ad hoc strategies to sequence and perform actions on them depending on a number of physical or geometrical characteristics related to those objects, as well as on an a priori classification of target object configurations. In this paper, we propose an action planning and execution framework, which (i) considers abstract representations of articulated or flexible objects, (ii) integrates action planning to reason upon such configurations and to sequence an appropriate set of actions with the aim of obtaining a target configuration provided as a goal, and (iii) is able to cooperate with humans to collaboratively carry out the plan. On the one hand, we show that a trade-off exists between the way articulated or flexible objects are perceived and how the system represents them. Such a trade-off greatly impacts on the complexity of the planning process. On the other hand, we demonstrate the system's capabilities in allowing humans to interrupt robot action execution, and - in general - to contribute to the whole manipulation process. Results related to planning performance are discussed, and examples of a Baxter dual-arm manipulator performing actions collaboratively with humans are shown.

cs.RO↗

arXiv2016

PDDL+ Planning via Constraint Answer Set Programming

PDDL+ is an extension of PDDL that enables modelling planning domains with mixed discrete-continuous dynamics. In this paper we present a new approach to PDDL+ planning based on Constraint Answer Set Programming (CASP), i.e. ASP rules plus numerical constraints. To the best of our knowledge, ours is the first attempt to link PDDL+ planning and logic programming. We provide an encoding of PDDL+ models into CASP problems. The encoding can handle non-linear hybrid domains, and represents a solid basis for applying logic programming to PDDL+ planning. As a case study, we consider the EZCSP CASP solver and obtain promising results on a set of PDDL+ benchmark problems.

cs.AI↗

arXiv2015

Disjunctive Answer Set Solvers via Templates

Answer set programming is a declarative programming paradigm oriented towards difficult combinatorial search problems. A fundamental task in answer set programming is to compute stable models, i.e., solutions of logic programs. Answer set solvers are the programs that perform this task. The problem of deciding whether a disjunctive program has a stable model is $Σ^P_2$-complete. The high complexity of reasoning within disjunctive logic programming is responsible for few solvers capable of dealing with such programs, namely DLV, GnT, Cmodels, CLASP and WASP. In this paper we show that transition systems introduced by Nieuwenhuis, Oliveras, and Tinelli to model and analyze satisfiability solvers can be adapted for disjunctive answer set solvers. Transition systems give a unifying perspective and bring clarity in the description and comparison of solvers. They can be effectively used for analyzing, comparing and proving correctness of search algorithms as well as inspiring new ideas in the design of disjunctive answer set solvers. In this light, we introduce a general template, which accounts for major techniques implemented in disjunctive solvers. We then illustrate how this general template captures solvers DLV, GnT and Cmodels. We also show how this framework provides a convenient tool for designing new solving algorithms by means of combinations of techniques employed in different solvers.

cs.AI↗

arXiv2014

The Design of the Fifth Answer Set Programming Competition

Answer Set Programming (ASP) is a well-established paradigm of declarative programming that has been developed in the field of logic programming and nonmonotonic reasoning. Advances in ASP solving technology are customarily assessed in competition events, as it happens for other closely-related problem-solving technologies like SAT/SMT, QBF, Planning and Scheduling. ASP Competitions are (usually) biennial events; however, the Fifth ASP Competition departs from tradition, in order to join the FLoC Olympic Games at the Vienna Summer of Logic 2014, which is expected to be the largest event in the history of logic. This edition of the ASP Competition series is jointly organized by the University of Calabria (Italy), the Aalto University (Finland), and the University of Genova (Italy), and is affiliated with the 30th International Conference on Logic Programming (ICLP 2014). It features a completely re-designed setup, with novelties involving the design of tracks, the scoring schema, and the adherence to a fixed modeling language in order to push the adoption of the ASP-Core-2 standard. Benchmark domains are taken from past editions, and best system packages submitted in 2013 are compared with new versions and solvers. To appear in Theory and Practice of Logic Programming (TPLP).

cs.AI↗

arXiv2014

The Multi-engine ASP Solver ME-ASP: Progress Report

MEASP is a multi-engine solver for ground ASP programs. It exploits algorithm selection techniques based on classification to select one among a set of out-of-the-box heterogeneous ASP solvers used as black-box engines. In this paper we report on (i) a new optimized implementation of MEASP; and (ii) an attempt of applying algorithm selection to non-ground programs. An experimental analysis reported in the paper shows that (i) the new implementation of \measp is substantially faster than the previous version; and (ii) the multi-engine recipe can be applied to the evaluation of non-ground programs with some benefits.

cs.AI↗

arXiv2013

A Multi-Engine Approach to Answer Set Programming

Answer Set Programming (ASP) is a truly-declarative programming paradigm proposed in the area of non-monotonic reasoning and logic programming, that has been recently employed in many applications. The development of efficient ASP systems is, thus, crucial. Having in mind the task of improving the solving methods for ASP, there are two usual ways to reach this goal: $(i)$ extending state-of-the-art techniques and ASP solvers, or $(ii)$ designing a new ASP solver from scratch. An alternative to these trends is to build on top of state-of-the-art solvers, and to apply machine learning techniques for choosing automatically the "best" available solver on a per-instance basis. In this paper we pursue this latter direction. We first define a set of cheap-to-compute syntactic features that characterize several aspects of ASP programs. Then, we apply classification methods that, given the features of the instances in a {\sl training} set and the solvers' performance on these instances, inductively learn algorithm selection strategies to be applied to a {\sl test} set. We report the results of a number of experiments considering solvers and different training and test sets of instances taken from the ones submitted to the "System Track" of the 3rd ASP Competition. Our analysis shows that, by applying machine learning techniques to ASP solving, it is possible to obtain very robust performance: our approach can solve more instances compared with any solver that entered the 3rd ASP Competition. (To appear in Theory and Practice of Logic Programming (TPLP).)

cs.AI↗