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Platas—Integrating Planning and the Action Language Golog

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Abstract

Action programming languages like Golog allow to define complex behaviors for agents on the basis of action representations in terms of expressive (first-order) logical formalisms, making them suitable for realistic scenarios of agents with only partial world knowledge. Often these scenarios include sub-tasks that require sequential planning. While in principle it is possible to express and execute such planning sub-tasks directly in Golog, the system can performance-wise not compete with state-of-the-art planners. In this paper, we report on our efforts to integrate efficient planning and expressive action programming in the Platas project. The theoretical foundation is laid by a mapping between the planning language Pddl and the Situation Calculus, which is underlying Golog, together with a study of how these formalisms relate in terms of expressivity. The practical benefit is demonstrated by an evaluation of embedding a Pddl planner into Golog, showing a drastic increase in performance while retaining the full expressiveness of Golog.

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Notes

  1. www.computational-logic.org/content/projects/wisslogabc.php

  2. Free variables are understood as ∀-quantified from the outside.

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Acknowledgements

Platas is part of the LogWiss research cluster. It is funded by the Deutsche Forschungsgemeinschaft (DFG) under grants La 747/13-2, La 747/14-1, Ne 623/10-1, and Ne 623/10-2.

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Authors and Affiliations

  1. Knowledge-Based Systems Group, RWTH Aachen University, Ahornstraße 55, 52056, Aachen, Germany

    Jens Claßen & Gerhard Lakemeyer

  2. Foundations of Artificial Intelligence, University of Freiburg, Georges-Köhler-Allee 52, 79110, Freiburg, Germany

    Gabriele Röger & Bernhard Nebel

Authors
  1. Jens Claßen
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  2. Gabriele Röger
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  3. Gerhard Lakemeyer
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  4. Bernhard Nebel
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Correspondence to Jens Claßen.

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Claßen, J., Röger, G., Lakemeyer, G. et al. Platas—Integrating Planning and the Action Language Golog. Künstl Intell 26, 61–67 (2012). https://doi.org/10.1007/s13218-011-0155-2

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