Skip to main content
    • Aa
    • Aa

Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach


We study the problem of finding optimal plans for multiple teams of robots through a mediator, where each team is given a task to complete in its workspace on its own and where teams are allowed to transfer robots between each other, subject to the following constraints: 1) teams (and the mediator) do not know about each other's workspace or tasks (e.g., for privacy purposes); 2) every team can lend or borrow robots, but not both (e.g., transportation/calibration of robots between/for different workspaces is usually costly). We present a mathematical definition of this problem and analyze its computational complexity. We introduce a novel, logic-based method to solve this problem, utilizing action languages and answer set programming for representation, and the state-of-the-art ASP solvers for reasoning. We show the applicability and usefulness of our approach by experiments on various scenarios of responsive and energy-efficient cognitive factories.

Linked references
Hide All

This list contains references from the content that can be linked to their source. For a full set of references and notes please see the PDF or HTML where available.

G. Brewka , T. Eiter and M. Truszczynski 2011. Answer set programming at a glance. Communications of the ACM 54, 12, 92103.

E. Dantsin , T. Eiter , G. Gottlob and A. Voronkov 2001. Complexity and expressive power of logic programming. ACM Computing Surveys 33, 3, 374425.

H. Ehtamo , R. P. Hamalainen , P. Heiskanen , J. Teich , M. Verkama and S. Zionts 1999. Generating pareto solutions in a two-party setting: Constraint proposal methods. Management Science 45, 12, 16971709.

E. Erdem , E. Aker and V. Patoglu 2012. Answer set programming for collaborative housekeeping robotics: Representation, reasoning, and execution. Intelligent Service Robotics 5, 4, 275291.

K. Erol , D. S. Nau and V. S. Subrahmanian 1995. Complexity, decidability and undecidability results for domain-independent planning. Artificial Intelligence 76, 1–2, 7588.

D. Foulser , M. Li and Q. Yang 1992. Theory and algorithms for plan merging. Artificial Intelligence Journal 57, 143182.

M. E. Gaston and M. desJardins 2008. The effect of network structure on dynamic team formation in multi-agent systems. Computational Intelligence 24, 2, 122157.

V. Lifschitz 2002. Answer set programming and plan generation. Artificial Intelligence 138, 3954.

M. M. de Weerdt , B. J. C. 2009. Introduction to planning in multiagent systems. Multiagent and Grid Systems 5, 345355.

I. Niemelä 1999. Logic programs with stable model semantics as a constraint programming paradigm. Annals of Mathematics and Artificial Intelligence 25, 241273.

Y. Shoham and M. Tennenholtz 1995. On social laws for artificial agent societies:off-line design. Artificial Intelligence 73, 231252.

K. P. Sycara , S. P. Roth , N. M. Sadeh and M. S. Fox 1991. Resource allocation in distributed factory scheduling. IEEE Expert 6, 1, 2940.

R. Trejo , J. Galloway , C. Sachar , V. Kreinovich , C. Baral and L.-C. Tuan 2001. From planning to searching for the shortest plan: An optimal transition. International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 9, 6, 827837.

Q. Yang , D. S. Nau and J. Hendler 1992. Merging separately generated plans with restricted interactions. Computational Intelligence 8, 648676.

M. Zaeh , M. Ostgathe , F. Geiger and G. Reinhart 2012. Adaptive job control in the cognitive factory. In Enabling Manufacturing Competitiveness and Economic Sustainability, H. A. ElMaraghy , Ed. Springer, Berlin Heidelberg, 1017.

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Theory and Practice of Logic Programming
  • ISSN: 1471-0684
  • EISSN: 1475-3081
  • URL: /core/journals/theory-and-practice-of-logic-programming
Please enter your name
Please enter a valid email address
Who would you like to send this to? *


Type Description Title
Supplementary Materials

Erdem et al. supplementary material

 PDF (343 KB)
343 KB


Full text views

Total number of HTML views: 0
Total number of PDF views: 15 *
Loading metrics...

Abstract views

Total abstract views: 91 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 25th May 2017. This data will be updated every 24 hours.