Task Planning in Robotics: an Empirical Comparison of PDDL-based and ASP-based Systems

Understand

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions.

• Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning problems.
• However, many different planners exist, each with different strengths and weaknesses, and there are no general rules for which planner would be best to apply to a given problem.
• In this article, we empirically compare the performance of state-of-the-art planners that use either the Planning Domain Description Language (PDDL), or Answer Set Programming (ASP) as the underlying action language.