In this paper we investigate three different approaches to encoding domain-dependent control knowledge for Answer-Set Planning. Starting with a standard implementation of the action description language B, we add control knowledge expressed in the GOLOG logic programming language. A naive encoding, following the original definitions of Levesque et al., is shown to scale poorly. We examine two alternative codings based on the transition semantics of ConGOLOG. We show that a speed increase of multiple orders of magnitude can be obtain by compiling the GOLOG program into a finitestate machine representation.
['Malcolm Ryan']
Efficiently implementing GOLOG with answer set programming