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Integrating ASP into ROS for Reasoning in Robots

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 func- tions, 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 sys- tem 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 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.
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Contributor : René Quiniou Connect in order to contact the contributor
Submitted on : Tuesday, August 25, 2015 - 6:26:04 PM
Last modification on : Friday, November 18, 2022 - 10:13:44 AM


  • HAL Id : hal-01187006, version 1


Benjamin Andres, David Rajaratnam, Orkunt Sabuncu, Torsten Schaub. Integrating ASP into ROS for Reasoning in Robots. Proceedings of the Thirteenth International Conference on Logic Programming and Nonmonotonic Reasoning (LPNMR'15), 2015, Lexington, United States. pp.25. ⟨hal-01187006⟩



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