Reasoning about Relative Position and Orientation of Moving Objects Using Answer Set Programming

EasyChair Preprint 14505

Abstract

We study reasoning about relative position, orientation and distance of moving objects in 2D space. We first construct a new hybrid calculus HOPRA by augmenting qualitative distance and quantitative constraints into Oriented Point Relation Algebra (OPRA). Then we develop a framework for consistency checking and reasoning with HOPRA using Answer Set Programming. This framework can check consistency of a set of qualitative and quantitative constraints, explain source of inconsistency, infer new knowledge and generate a layout of objects and their orientation in the discrete space. The framework can reason with certain and presumed information, and can handle partial and uncertain information. We evaluate efficiency and scalability of our method by computational experiments, and illustrate its applications with sample scenarios from robotic perception and marine navigation.

Keyphrases: Answer Set Programming, Hybrid Calculus, Navigating Objects, Oriented Points, Relative Orientation, consistency checking, constraint satisfaction, nonmonotonic reasoning, spatial reasoning

@booklet{EasyChair:14505,
  author    = {Yusuf Izmirlioglu},
  title     = {Reasoning about Relative Position and Orientation of Moving Objects Using Answer Set Programming},
  howpublished = {EasyChair Preprint 14505},
  year      = {EasyChair, 2024}}