Reasoning in complex environments with the SelectScript declarative language

TL;DR

This paper introduces extensions to the SelectScript language, enhancing its capabilities for hierarchical queries and efficiency, demonstrated through classical and complex robotic environment problems.

Contribution

The paper presents novel hierarchical query support and efficiency improvements in SelectScript, enabling better reasoning in complex simulation and robotic environments.

Findings

Hierarchical queries implemented successfully

Efficiency improvements enable manual search strategy design

Applied to Towers of Hanoi and 3D path planning

Abstract

SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two directions. First, we have implemented hierarchical queries; second, we improve efficiency enabling manual design space exploration on different "search" strategies. We demonstrate the applicability of such extensions in two application problems; the basic language concepts are explained by solving the classical problem of the Towers of Hanoi and then a common path planning problem in a complex 3D environment is implemented.