CASP for Robot Control in Hybrid Domains

The task of planning in hybrid domains has recently attracted considerable attention, motivated by the potential for useful practical applications. Lately, approaches have been developed that resulted in efficient planning algorithms. In this paper, we push the investigation further and (1) develop execution monitoring and diagnostic algorithms for hybrid domains based on Constraint ASP (CASP); (2) propose an agent architecture that ties together planning, execution monitoring, and diagnostics for hybrid domains; (3) demonstrate our approach on two simple, but non-trivial scenarios, including one on a physical robot.