This is a collection of encodings for asprilo.

The encodings are grouped in three root directories wrt. their problem domains:

• ./abc contains encoding for asprilo domains A, B and C

• ./m contains encodings for asprilo domain M

• ./control contains encodings for supplementary features such as task assignment, highway constraints, etc. for all (some) asprilo domains

We adopt the following name conventions for the encoding files:

• For the base name of encoding files

  • capital letters M, P, P, and D stand for actions move, pickup, putdown, and deliver

  • lower case suffixes -c, -b, and -a indicate the addressed problem domain

  • specifically, this applies to all files matching

    • ./abc/goal-D-{a,b,c}.*
    • ./control/control-{a,b,c,m}.*
    • ./control/assign-{a,bcm}.*
    • etc.

• File extensions *.lp*, *.ilp, *.clp, *.iclp and *.dlp stand for regular, incremental, constraint, incremental constraint logic and difference logic programs, resp.

  • sometimes we need to disambiguate further, e.g. we use capital C in *.Clp and *``*.iClp to indicate that we use constraints for both robot & shelf positions and product quantities

• Omissions of such indicators are treated like wild-cards, i.e., general applicability

• Compatibility of encoding files is achieved by combing those with same (or similar) attributes.

• Files with base name prefix input* and output* handle I/O between asprilo and the encodings, e.g.

  ./input.lp
  ./m/output-M.lp
  ./m/output-M.ilp
  ./abc/output-MPPD.ilp
  ./abc/output-MPPD.lp
  ...

• Specifically,

  • input.lp converts asprilo instances to the format used in action theories and
  • output* files convert the resulting plan into the format of asprilo

• Files with base name prefix action* hold action theories, e.g.

  ./m/action-M.lp
  ./m/action-M.ilp
  ./abc/action-MPP.ilp
  ./abc/action-MPP.lp
  ...

• Encoded actions are move, pickup, and put-down.

• Files with base name prefix goal* hold goal conditions, e.g.

  ./m/goal-M.ilp
  ./m/goal-M.lp
  ./abc/goal-D-a.lp
  ./abc/goal-D-a.ilp
  ./abc/goal-D-b.lp
  ./abc/goal-D-b.ilp
  ...

• Except for asprilo domain M, they define what constitutes a delivery action indicated by capital letter D in the file names.

• Goal conditions depend on the asprilo domain and, hence, use in directory .abc/ base name suffixes *-a, *-b *-c for distinction

• Files with base name prefix quantities* deal with amounts of products, e.g

  ./abc/quantities.clp
  ./abc/quantities.iclp
  ./abc/quantities.ilp
  ./abc/quantities.lp

• Goal condition encodings for domain A include quantity encodings fitting to their logic program type (*.lp, *.ilp, .clp, etc.)

• Files with base name prefix strategy specify strategies, e.g.

  ./abc/strategy-MPP.ilp
  ./abc/strategy-MPP.lp

• Some strategies may not work with all layouts!

• Experimental feature!

• Files with base name prefix highways specify conditions for highway gird nodes, e.g.

  ./control/highways.lp
  ./control/highways.ilp
  ./control/highways.clp
  ./control/highways.iclp

• Files with base name prefix optimization* specify objective functions, e.g.

  ./abc/optimization.lp
  ./abc/optimization.ilp

• Experimental feature!

• Files with base name prefix heuristic* specifying heuristics with clingo's #heuristic directive, e.g.

  ./control/heuristic.lp
  ./control/heuristic.ilp

• Experimental feature!

• Files with base name prefix encoding* provide shorthands to call matching action theory and goal encodings, e.g.

  ./abc/encoding-a.lp
  ./abc/encoding-a.ilp
  ./abc/encoding-b.lp
  ./abc/encoding-b.ilp
  ./abc/encoding-c.lp
  ./abc/encoding-c.ilp
  ./m/encoding.lp
  ./m/encoding.ilp
  ...

• This helps to shorten some calls (e.g. for benchmarking) and illustrate which encoding files fit together

• Some warehouse layouts merged with orders can be found in the directory ./examples Many of them contain (uncommented) calls in their header, e.g.

  clingo abc/{action-MPP.lp,strategy-MPP.lp,goal-D-c.lp,output-MPPD.lp} \
         examples/x4_y4_n16_r2_s3_ps1_pr2_u4_o2_N1.lp -c horizon=8

• There are also auxiliary bash scripts that for a clean output of facts:

  • ./clingo1facts to print only facts in one line
  • ./ clingo2facts to additionally print each fact in a new line (--out-ifs='\n')

You can display your instance and plan execution in the asprilo's visualizer on the command-line by running

clingo $OPTS $ENCODINGS --outf=0 -V0 --out-atomf=%s. | \
head -n 1 | \
$VIZUALIZER

where

• $ENCODINGS holds your list of encoding file paths
• $OPTS holds your clingo options
• clingo options--outf=0 -V0 --out-atomf=%s. formats the output answer set in adherence to asprilo's input format
• UNIX command head -n1 strips off the trailing (UN)SATISFIABLE
• $VIZUALIZER holds the path to the asprilo visualizer script

For example

clingo abc/{action-MPP.lp,goal-D-c.lp} examples/x4_y4_n16_r2_s3_ps1_pr2_u4_o2_N1.lp -c horizon=8
output-MPPD.lp --outf=0 -V0 --out-atomf=%s. | head -n1 | $VISUALIZER