Aggregate Semantics for Propositional Answer Set Programs

Answer Set Programming (ASP) emerged in the late 1990ies as a paradigm for Knowledge Representation and Reasoning. The attractiveness of ASP builds on an expressive high-level modeling language along with the availability of powerful off-the-shelf solving systems. While the utility of incorporating aggregate expressions in the modeling language has been realized almost simultaneously with the inception of the first ASP solving systems, a general semantics of aggregates and its efficient implementation have been long-standing challenges. Aggregates have been proposed and widely used in database systems, and also in the deductive database language Datalog, which is one of the main precursors of ASP. The use of aggregates was, however, still restricted in Datalog (by either disallowing recursion or only allowing monotone aggregates), while several ways to integrate unrestricted aggregates evolved in the context of ASP. In this survey, we pick up at this point of development by presenting and comparing the main aggregate semantics that have been proposed for propositional ASP programs. We highlight crucial properties such as computational complexity and expressive power, and outline the capabilities and limitations of different approaches by illustrative examples.

A Reinforcement Learning Environment For Job-Shop Scheduling

Scheduling is a fundamental task occurring in various automated systems applications, e.g., optimal schedules for machines on a job shop allow for a reduction of production costs and waste. Nevertheless, finding such schedules is often intractable and cannot be achieved by Combinatorial Optimization Problem (COP) methods within a given time limit. Recent advances of Deep Reinforcement Learning (DRL) in learning complex behavior enable new COP application possibilities. This paper presents an efficient DRL environment for Job-Shop Scheduling -- an important problem in the field. Furthermore, we design a meaningful and compact state representation as well as a novel, simple dense reward function, closely related to the sparse make-span minimization criteria used by COP methods. We demonstrate that our approach significantly outperforms existing DRL methods on classic benchmark instances, coming close to state-of-the-art COP approaches.

ASP-Core-2 Input Language Format

Standardization of solver input languages has been a main driver for the growth of several areas within knowledge representation and reasoning, fostering the exploitation in actual applications. In this document we present the ASP-Core-2 standard input language for Answer Set Programming, which has been adopted in ASP Competition events since 2013.

The Seventh Answer Set Programming Competition: Design and Results

Answer Set Programming (ASP) is a prominent knowledge representation language with roots in logic programming and non-monotonic reasoning. Biennial ASP competitions are organized in order to furnish challenging benchmark collections and assess the advancement of the state of the art in ASP solving. In this paper, we report on the design and results of the Seventh ASP Competition, jointly organized by the University of Calabria (Italy), the University of Genova (Italy), and the University of Potsdam (Germany), in affiliation with the 14th International Conference on Logic Programming and Non-Monotonic Reasoning (LPNMR 2017). (Under consideration for acceptance in TPLP).

Routing Driverless Transport Vehicles in Car Assembly with Answer Set Programming

Automated storage and retrieval systems are principal components of modern production and warehouse facilities. In particular, automated guided vehicles nowadays substitute human-operated pallet trucks in transporting production materials between storage locations and assembly stations. While low-level control systems take care of navigating such driverless vehicles along programmed routes and avoid collisions even under unforeseen circumstances, in the common case of multiple vehicles sharing the same operation area, the problem remains how to set up routes such that a collection of transport tasks is accomplished most effectively. We address this prevalent problem in the context of car assembly at Mercedes-Benz Ludwigsfelde GmbH, a large-scale producer of commercial vehicles, where routes for automated guided vehicles used in the production process have traditionally been hand-coded by human engineers. Such ad-hoc methods may suffice as long as a running production process remains in place, while any change in the factory layout or production targets necessitates tedious manual reconfiguration, not to mention the missing portability between different production plants. Unlike this, we propose a declarative approach based on Answer Set Programming to optimize the routes taken by automated guided vehicles for accomplishing transport tasks. The advantages include a transparent and executable problem formalization, provable optimality of routes relative to objective criteria, as well as elaboration tolerance towards particular factory layouts and production targets. Moreover, we demonstrate that our approach is efficient enough to deal with the transport tasks evolving in realistic production processes at the car factory of Mercedes-Benz Ludwigsfelde GmbH.

Experimenting with robotic intra-logistics domains

We introduce the asprilo [1] framework to facilitate experimental studies of approaches addressing complex dynamic applications. For this purpose, we have chosen the domain of robotic intra-logistics. This domain is not only highly relevant in the context of today's fourth industrial revolution but it moreover combines a multitude of challenging issues within a single uniform framework. This includes multi-agent planning, reasoning about action, change, resources, strategies, etc. In return, asprilo allows users to study alternative solutions as regards effectiveness and scalability. Although asprilo relies on Answer Set Programming and Python, it is readily usable by any system complying with its fact-oriented interface format. This makes it attractive for benchmarking and teaching well beyond logic programming. More precisely, asprilo consists of a versatile benchmark generator, solution checker and visualizer as well as a bunch of reference encodings featuring various ASP techniques. Importantly, the visualizer's animation capabilities are indispensable for complex scenarios like intra-logistics in order to inspect valid as well as invalid solution candidates. Also, it allows for graphically editing benchmark layouts that can be used as a basis for generating benchmark suites. [1] asprilo stands for Answer Set Programming for robotic intra-logistics

Multi-shot ASP solving with clingo

We introduce a new flexible paradigm of grounding and solving in Answer Set Programming (ASP), which we refer to as multi-shot ASP solving, and present its implementation in the ASP system clingo. Multi-shot ASP solving features grounding and solving processes that deal with continuously changing logic programs. In doing so, they remain operative and accommodate changes in a seamless way. For instance, such processes allow for advanced forms of search, as in optimization or theory solving, or interaction with an environment, as in robotics or query-answering. Common to them is that the problem specification evolves during the reasoning process, either because data or constraints are added, deleted, or replaced. This evolutionary aspect adds another dimension to ASP since it brings about state changing operations. We address this issue by providing an operational semantics that characterizes grounding and solving processes in multi-shot ASP solving. This characterization provides a semantic account of grounder and solver states along with the operations manipulating them. The operative nature of multi-shot solving avoids redundancies in relaunching grounder and solver programs and benefits from the solver's learning capacities. clingo accomplishes this by complementing ASP's declarative input language with control capacities. On the declarative side, a new directive allows for structuring logic programs into named and parameterizable subprograms. The grounding and integration of these subprograms into the solving process is completely modular and fully controllable from the procedural side. To this end, clingo offers a new application programming interface that is conveniently accessible via scripting languages.

Grounding Recursive Aggregates: Preliminary Report

Problem solving in Answer Set Programming consists of two steps, a first grounding phase, systematically replacing all variables by terms, and a second solving phase computing the stable models of the obtained ground program. An intricate part of both phases is the treatment of aggregates, which are popular language constructs that allow for expressing properties over sets. In this paper, we elaborate upon the treatment of aggregates during grounding in Gringo series 4. Consequently, our approach is applicable to grounding based on semi-naive database evaluation techniques. In particular, we provide a series of algorithms detailing the treatment of recursive aggregates and illustrate this by a running example.

Rewriting recursive aggregates in answer set programming: back to monotonicity

Aggregation functions are widely used in answer set programming for representing and reasoning on knowledge involving sets of objects collectively. Current implementations simplify the structure of programs in order to optimize the overall performance. In particular, aggregates are rewritten into simpler forms known as monotone aggregates. Since the evaluation of normal programs with monotone aggregates is in general on a lower complexity level than the evaluation of normal programs with arbitrary aggregates, any faithful translation function must introduce disjunction in rule heads in some cases. However, no function of this kind is known. The paper closes this gap by introducing a polynomial, faithful, and modular translation for rewriting common aggregation functions into the simpler form accepted by current solvers. A prototype system allows for experimenting with arbitrary recursive aggregates, which are also supported in the recent version 4.5 of the grounder \textsc{gringo}, using the methods presented in this paper. To appear in Theory and Practice of Logic Programming (TPLP), Proceedings of ICLP 2015.

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).