A New Descriptive Method for Gripper Planning

Gripper planning problem (GPP) is an important benchmark in planning. Answer Set Programming (ASP) provides a declarative problem solving paradigm. Due to the efficient ASP solvers, it is widely used in diagnosis, scheduling, planning and so forth. This paper proposes a new ASP-based declarative approach for GPP, called AASP. By translating GPP into an equivalent graph traveling problem, the correctness of AASP is proved. Experimental results show that AASP outperforms state of the art GPP approaches, including MpC and PLASP. The former is a planning domain define language (PDDL) planer, while the later is an automatic compiler which translated PDDL language into ASP.