Experimenting with robotic intra-logistics domains
  We introduce the asprilo [1] framework to facilitate experimental studies of
approaches addressing complex dynamic applications. For this purpose, we have
chosen the domain of robotic intra-logistics. This domain is not only highly
relevant in the context of today's fourth industrial revolution but it moreover
combines a multitude of challenging issues within a single uniform framework.
This includes multi-agent planning, reasoning about action, change, resources,
strategies, etc. In return, asprilo allows users to study alternative solutions
as regards effectiveness and scalability. Although asprilo relies on Answer Set
Programming and Python, it is readily usable by any system complying with its
fact-oriented interface format. This makes it attractive for benchmarking and
teaching well beyond logic programming. More precisely, asprilo consists of a
versatile benchmark generator, solution checker and visualizer as well as a
bunch of reference encodings featuring various ASP techniques. Importantly, the
visualizer's animation capabilities are indispensable for complex scenarios
like intra-logistics in order to inspect valid as well as invalid solution
candidates. Also, it allows for graphically editing benchmark layouts that can
be used as a basis for generating benchmark suites.
  [1] asprilo stands for Answer Set Programming for robotic intra-logistics
