mlsanityData to 7 Oct 2026

Logic programming for deliberative robotic task planning

arXiv 2301.07550 ↗First posted 18 Jan 2023cs.RO cs.AI cs.LOcited by 8

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Abstract (arXiv)

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application.

Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). Builds on 24 of its 279 references that are in the map. First posted on arXiv 18 Jan 2023.

Builds on

24 of 279 references.

References · 24

  1. 2017Multi-shot ASP solving with clingocited by 115
  2. 2019ASP-Core-2 Input Language Formatcited by 77
  3. 2017Explainable Planningcited by 40
  4. 2018Task Planning in Robotics: an Empirical Comparison of PDDL-based and ASP-based Systemscited by 40
  5. 2015Plan Explicability and Predictability for Robot Task Planningcited by 26
  6. 2018Experimenting with robotic intra-logistics domainscited by 12
  7. 2015REBA: A Refinement-Based Architecture for Knowledge Representation and Reasoning in Roboticscited by 10
  8. 2020Autonomous task planning and situation awareness in robotic surgerycited by 10
  9. 2021An ASP-based Solution to the Chemotherapy Treatment Scheduling problemcited by 9
  10. 2018Routing Driverless Transport Vehicles in Car Assembly with Answer Set Programmingcited by 7
  11. 2020Manipulation of Articulated Objects using Dual-arm Robots via Answer Set Programmingcited by 7
  12. 2020Event-Based Signal Temporal Logic Synthesis for Single and Multi-Robot Taskscited by 7
12 more
  1. 2018plasp 3: Towards Effective ASP Planningcited by 6
  2. 2021Autonomous tissue retraction with a biomechanically informed logic based frameworkcited by 6
  3. 2019Learning and Reasoning for Robot Sequential Decision Making under Uncertaintycited by 5
  4. 2020Semantic Task Planning for Service Robots in Open Worldcited by 5
  5. 2018That's Mine! Learning Ownership Relations and Norms for Robotscited by 4
  6. 2021Operating Room (Re)Scheduling with Bed Management via ASPcited by 4
  7. 2022Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertaintycited by 4
  8. 2014Cooperative Decentralized Multi-agent Control under Local LTL Tasks and Connectivity Constraintscited by 2
  9. 2015Dynamic Hierarchical Reactive Controller Synthesiscited by 2
  10. 2017The CARESSES EU-Japan project: making assistive robots culturally competentcited by 2
  11. 2018A Probabilistic Extension of Action Language BC+cited by 2
  12. 2014Communication-Free Multi-Agent Control under Local Temporal Tasks and Relative-Distance Constraintscited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 1; 2025: 4; 2026: 2.

8 papers.

  1. 2024A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approachescited by 19
  2. 2023Learning Logic Specifications for Soft Policy Guidance in POMCPcited by 7
  3. 2025Online inductive learning from answer sets for efficient reinforcement learning explorationcited by 4
  4. 2025Inductive Learning of Robot Task Knowledge from Raw Data and Online Expert Feedbackcited by 2
  5. 2025Automated Generation of MDPs Using Logic Programming and LLMs for Robotic Applicationscited by 2
  6. 2026Planning for Change: Reinforcement Learning Combined with Bounded Extremum Seeking for Robotic Control under Distribution Shiftcited by 2
  7. 2025RobEthiChor: Automated Context-aware Ethics-based Negotiation for Autonomous Robotscited by 0
  8. 2026Explaining Reinforcement Learning Agents via Inductive Logic Programmingcited by 0