Approximate epistemic planning with postdiction as answer-set programming

Abstract

We propose a history-based approximation of the Possible Worlds Semantics (PWS ) for reasoning about knowledge and action. A respective planning system is implemented by a transformation of the problem domain to an Answer-Set Program. The novelty of our approach is elaboration tolerant support for postdiction under the condition that the plan existence problem is still solvable in NP, as compared to Σ2P for non-approximated PWS of Son and Baral [20]. We demonstrate our planner with standard problems and present its integration in a cognitive robotics framework for high-level control in a smart home. © 2013 Springer-Verlag.