CSE-Automated Warehouse scenario Project Milestone 3: Automate the delivery of products in the order

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Automated Warehouse scenario Project Milestone 3 Sreechandra Reddy Allala sallala1@asu.edu

Problem Statement In this project “Automated Warehouse Scenario”, the required task is to automate the delivery of products in the orders to picking stations. This is a more basic version of automated planning that is done in Amazon Warehouses to automate order fulfilment. The primary task of the robots is to carry the shelves containing the products in the orders to the picking stations. The robots can move underneath the shelves but a robot that is already carrying a shelf cannot fit under another shelf and will have to move out the other shelf out of the way before it can move forward. The aim of this project is fulfilling all the orders in the least possible time. The primary constraints of the problem are that there can’t be more than one robot in any given cell at any given time, and that the robots can’t collide or swap cells with each other.

How I resolved the Issues To resolve the problem of formulating the constraints, I came up with a custom model of the world and enlisted all the required conditions in plain English language first and this gave me a clear idea of the constraints that needed to be coded. To overcome the problem of debugging, I plan to introduce custom instances of the Warehouse world limiting the constraints and actions available to help debug the code efficiently and fix it accordingly.

Itemized tasks completed Progress so far

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To achieve the goal of this project, it is required to use Answer Set Programming (ASP) to find the stable models (the sequence of actions in this case) that would satisfy the problem constraints. To understand ASP, I first studied Propositional Logic and First order logic through Professor Lee’s lecture modules. I then started off with the basics of ASP and then moved on to understanding how complex problems can be solved using ASP by just encoding a few weak constraints and strong constraints. Upon learning the frame problem and the way to encode fluents in ASP, it was time to get started with the project. Starting off, I went through the course project description included in the package folder to understand the dynamics of the world and to identify the weak and strong constraints of the world.

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Issues Encountered While understanding the various nuances of ASP was a challenge in itself, I particularly faced challenges in figuring out how to debug the ASP code written due to the lack of proper debugging tools and a comprehensive understanding of the framework. Another issue I faced during this project is understanding all the constraints that needed to be encoded to model the dynamics of the world in an efficient manner.

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A thorough understanding of Propositional Logic, First Order Logic, and Answer Set Programming.

Understanding the Warehouse domain and the various dynamics of the Warehouse world.

Understanding the frame constraints and fluents in the Warehouse domain.

Enlisting all the constraints of the world in plain English so that coding the constraints would be apt and clearer.

Preparing custom instances of the worlds by limiting the constraints and actions in these scenarios.

Itemized tasks to be completed • • • • •

Coding all the weak and strong constraints enlisted in plain English in ASP. Testing the code using the custom instances created.

Debugging the code (if needed) by limiting the action space and custom #show statements.

Test the code by using the instances provided in the package.

Preparing the project report in the AAAI format and submitting the project.

References 1. Joohyung Lee, CSE 579 Lecture Videos

2. Joohyung Lee, CSE 579 Lecture Slides

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