Planning with Different Forms of Domain-Dependent Control Knowledge — An Answer Set Programming Approach

Abstract

In this paper we present a declarative approach to adding domain-dependent control knowledge for Answer Set Planning (ASP). Our approach allows different types of domain-dependent control knowledge such as hierarchical, temporal, or procedural knowledge to be represented and exploited in parallel, thus combining the ideas of control knowledge in HTN-planning, GOLOG-programming, and planning with temporal knowledge into ASP. To do so, we view domain-dependent control knowledge as sets of independent constraints. An advantage of this approach is that domain-dependent control knowledge can be modularly formalized and added to the planning problem as desired. We define a set of constructs for constraint representation and provide a set of domainindependent logic programming rules for checking constraint satisfaction.KeywordsLogic ProgramAction TheoryLogic ProgrammingStable ModelProcedural KnowledgeThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.