ASP-Based Time-Bounded Planning for Logistics Robots

Authors

  • Björn Schäpers RWTH Aachen University
  • Tim Niemueller RWTH Aachen University
  • Gerhard Lakemeyer RWTH Aachen University
  • Martin Gebser University of Potsdam
  • Torsten Schaub University of Potsdam

DOI:

https://doi.org/10.1609/icaps.v28i1.13927

Keywords:

automated planning and scheduling, answer set programming, cognitive robotics

Abstract

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.

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Published

2018-06-15

How to Cite

Schäpers, B., Niemueller, T., Lakemeyer, G., Gebser, M., & Schaub, T. (2018). ASP-Based Time-Bounded Planning for Logistics Robots. Proceedings of the International Conference on Automated Planning and Scheduling, 28(1), 509-517. https://doi.org/10.1609/icaps.v28i1.13927

Issue

Vol. 28 (2018): Twenty-Eighth International Conference on Automated Planning and Scheduling

Section

Robotics Track