Integrating ASP into ROS for Reasoning in Robots

  • Benjamin Andres
  • David Rajaratnam
  • Orkunt Sabuncu
  • Torsten SchaubEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9345)


Knowledge representation and reasoning capacities are vital to cognitive robotics because they provide higher level functionalities for reasoning about actions, environments, goals, perception, etc. Although Answer Set Programming (ASP) is well suited for modelling such functions, there was so far no seamless way to use ASP in a robotic setting. We address this shortcoming and show how a recently developed ASP system can be harnessed to provide appropriate reasoning capacities within a robotic system. To be more precise, we furnish a package integrating the new version of the ASP solver clingo with the popular open-source robotic middleware Robot Operating System (ROS). The resulting system, ROSoClingo, provides a generic way by which an ASP program can be used to control the behaviour of a robot and to respond to the results of the robot’s actions.


Task Plan Dynamic Domain Robot Operating System External Atom High Level Functionality 
These 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.



This work was funded by ARC (DP150103034) and DFG (550/9).


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Benjamin Andres
    • 1
  • David Rajaratnam
    • 2
  • Orkunt Sabuncu
    • 1
  • Torsten Schaub
    • 1
    • 3
    Email author
  1. 1.University of PotsdamPotsdamGermany
  2. 2.University of New South WalesSydneyAustralia
  3. 3.INRIA RennesRennesFrance

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