Abstract
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.
T. Schaub—Affiliated with Simon Fraser University, Canada, and IIIS Griffith University, Australia.
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Notes
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Topics are a named publisher-subscriber communications mechanism for message passing between ROS nodes.
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The videos of these scenarios are available at http://goo.gl/g8S5Ky.
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Acknowledgments
This work was funded by ARC (DP150103034) and DFG (550/9).
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Andres, B., Rajaratnam, D., Sabuncu, O., Schaub, T. (2015). Integrating ASP into ROS for Reasoning in Robots. In: Calimeri, F., Ianni, G., Truszczynski, M. (eds) Logic Programming and Nonmonotonic Reasoning. LPNMR 2015. Lecture Notes in Computer Science(), vol 9345. Springer, Cham. https://doi.org/10.1007/978-3-319-23264-5_7
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