Logic programming for deliberative robotic task planning

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. I...

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Bibliographic Details
Published in:The Artificial intelligence review Vol. 56; no. 9; pp. 9011 - 9049
Main Authors: Meli, Daniele, Nakawala, Hirenkumar, Fiorini, Paolo
Format: Journal Article
Language:English
Published: Dordrecht Springer Netherlands 01.09.2023
Springer
Springer Nature B.V
Subjects:
Activities of daily living
Application
Artificial Intelligence
Autonomy
Complex tasks
Computer Science
Everyday life
Foreign aid
Logic
Logic programming
Planning
Robotics
Robots
Suitability
Task complexity
Task planning (robotics)
Task planning
Logic programming
Deliberative robots
ISSN:0269-2821, 1573-7462
Online Access:Get full text
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Summary:Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application.
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ISSN:0269-2821
1573-7462
DOI:10.1007/s10462-022-10389-w