Answer Set Planning Under Action Costs

Recently, planning based on answer set programming has been proposed as an approach towards realizing declarative planning systems. In this paper, we present the language Kc, which extends the declarative planning language K by action costs. Kc provides the notion of admissible and optimal plans, which are plans whose overall action costs are within a given limit resp. minimum over all plans (i.e., cheapest plans). As we demonstrate, this novel language allows for expressing some nontrivial planning tasks in a declarative way. Furthermore, it can be utilized for representing planning problems under other optimality criteria, such as computing ``shortest'' plans (with the least number of steps), and refinement combinations of cheapest and fastest plans. We study complexity aspects of the language Kc and provide a transformation to logic programs, such that planning problems are solved via answer set programming. Furthermore, we report experimental results on selected problems. Our experience is encouraging that answer set planning may be a valuable approach to expressive planning systems in which intricate planning problems can be naturally specified and solved.

Hypertree Decompositions and Tractable Queries

Several important decision problems on conjunctive queries (CQs) are NP-complete in general but become tractable, and actually highly parallelizable, if restricted to acyclic or nearly acyclic queries. Examples are the evaluation of Boolean CQs and query containment. These problems were shown tractable for conjunctive queries of bounded treewidth and of bounded degree of cyclicity. The so far most general concept of nearly acyclic queries was the notion of queries of bounded query-width introduced by Chekuri and Rajaraman (1997). While CQs of bounded query width are tractable, it remained unclear whether such queries are efficiently recognizable. Chekuri and Rajaraman stated as an open problem whether for each constant k it can be determined in polynomial time if a query has query width less than or equal to k. We give a negative answer by proving this problem NP-complete (specifically, for k=4). In order to circumvent this difficulty, we introduce the new concept of hypertree decomposition of a query and the corresponding notion of hypertree width. We prove: (a) for each k, the class of queries with query width bounded by k is properly contained in the class of queries whose hypertree width is bounded by k; (b) unlike query width, constant hypertree-width is efficiently recognizable; (c) Boolean queries of constant hypertree width can be efficiently evaluated.