We extend the 0-approximation of sensing actions and incomplete information in Son and Baral (2001) to action theories with static causal laws and prove its soundness with respect to the possible world semantics. We also show that the conditional planning problem with respect to this approximation is NP-complete. We then present an answer set programming based conditional planner, called ASCP, that is capable of generating both conformant plans and conditional plans in the presence of sensing actions, incomplete information about the initial state, and static causal laws. We prove the correctness of our implementation and argue that our planner is sound and complete with respect to the proposed approximation. Finally, we present experimental results comparing ASCP to other planners.

We have studied the update operator ⊕1 defined for update sequences by Eiter et al. without tautologies and we have observed that it satisfies an interesting property. This property, which we call Weak Independence of Syntax (WIS), is similar to one of the postulates proposed by Alchourrón, Gärdenfors, and Makinson (AGM); only that in this case it applies to nonmonotonic logic. In addition, we consider other five additional basic properties about update programs and we show that ⊕1 satisfies them. This work continues the analysis of the AGM postulates with respect to the ⊕1 operator under a refined view that considers N2 as a monotonic logic which allows us to expand our understanding of answer sets. Moreover, N2 helped us to derive an alternative definition of ⊕1 avoiding the use of unnecessary extra atoms.

Control flow compilation is a hybrid between classical WAM compilation and meta-call, limited to the compilation of non-recursive clause bodies. This approach is used successfully for the execution of dynamically generated queries in an inductive logic programming setting (ILP). Control flow compilation reduces compilation times up to an order of magnitude, without slowing down execution. A lazy variant of control flow compilation is also presented. By compiling code by need, it removes the overhead of compiling unreached code (a frequent phenomenon in practical ILP settings), and thus reduces the size of the compiled code. Both dynamic compilation approaches have been implemented and were combined with query packs, an efficient ILP execution mechanism. It turns out that locality of data and code is important for performance. The experiments reported in the paper show that lazy control flow compilation is superior in both artificial and real life settings.