Experimenting with robotic intra-logistics domains

TL;DR

This paper introduces the asprilo framework, a versatile tool for experimental research in robotic intra-logistics, enabling benchmarking, visualization, and analysis of multi-agent planning approaches within a unified, logic-based environment.

Contribution

The paper presents asprilo, a new framework combining benchmark generation, solution checking, and visualization for robotic intra-logistics, supporting diverse ASP techniques and fostering research and education.

Findings

asprilo effectively supports complex intra-logistics scenarios

it enables benchmarking of different planning approaches

visualization aids in analyzing solution validity and strategies

Abstract

We introduce the asprilo [1] framework to facilitate experimental studies of approaches addressing complex dynamic applications. For this purpose, we have chosen the domain of robotic intra-logistics. This domain is not only highly relevant in the context of today's fourth industrial revolution but it moreover combines a multitude of challenging issues within a single uniform framework. This includes multi-agent planning, reasoning about action, change, resources, strategies, etc. In return, asprilo allows users to study alternative solutions as regards effectiveness and scalability. Although asprilo relies on Answer Set Programming and Python, it is readily usable by any system complying with its fact-oriented interface format. This makes it attractive for benchmarking and teaching well beyond logic programming. More precisely, asprilo consists of a versatile benchmark generator, solution checker and visualizer as well as a bunch of reference encodings featuring various ASP techniques. Importantly, the visualizer's animation capabilities are indispensable for complex scenarios like intra-logistics in order to inspect valid as well as invalid solution candidates. Also, it allows for graphically editing benchmark layouts that can be used as a basis for generating benchmark suites. [1] asprilo stands for Answer Set Programming for robotic intra-logistics