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Artificial Intelligence
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CIKM '94 Proceedings of the third international conference on Information and knowledge management
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Artificial Intelligence
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BT Technology Journal
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PADL '01 Proceedings of the Third International Symposium on Practical Aspects of Declarative Languages
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Artificial Intelligence - Special issue on logical formalizations and commonsense reasoning
ConceptNet — A Practical Commonsense Reasoning Tool-Kit
BT Technology Journal
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IEEE Transactions on Computers
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Robotics and Autonomous Systems
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ICLP '08 Proceedings of the 24th International Conference on Logic Programming
What is answer set programming?
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
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Multiagent and Grid Systems - Planning in multiagent systems
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AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Causal reasoning for planning and coordination of multiple housekeeping robots
LPNMR'11 Proceedings of the 11th international conference on Logic programming and nonmonotonic reasoning
Answer set programming at a glance
Communications of the ACM
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Answer set programming (ASP) is a knowledge representation and reasoning paradigm with high-level expressive logic-based formalism, and efficient solvers; it is applied to solve hard problems in various domains, such as systems biology, wire routing, and space shuttle control. In this paper, we present an application of ASP to housekeeping robotics. We show how the following problems are addressed using computational methods/tools of ASP: (1) embedding commonsense knowledge automatically extracted from the commonsense knowledge base ConceptNet, into high-level representation, and (2) embedding (continuous) geometric reasoning and temporal reasoning about durations of actions, into (discrete) high-level reasoning. We introduce a planning and monitoring algorithm for safe execution of plans, so that robots can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. Some of the recoveries require collaboration of robots. We illustrate the applicability of ASP on several housekeeping robotics problems, and report on the computational efficiency in terms of CPU time and memory.