Integrating ASP into ROS for Reasoning in Robots

To appearInternational audienceKnowledge representation and reasoning capacities are vitalto cognitive robotics because they provide higher level functionalities forreasoning about actions, environments, goals, perception, etc. AlthoughAnswer Set Programming (ASP) is well suited for modelling such func-tions, there was so far no seamless way to use ASP in a robotic setting.Weaddress this shortcoming and show how a recently developed ASP sys-tem can be harnessed to provide appropriate reasoning capacities withina robotic system. To be more precise, we furnish a package integratingthe new version of the ASP solver clingo with the popular open-sourcerobotic middleware ROS. The resulting system, ROSoClingo, providesa generic way by which an ASP program can be used to control thebehaviour of a robot and to respond to the results of the robot's actions