Extending Answer Set Planning with Sequence, Conditional, Loop, Non-Deterministic Choice, and Procedure Constructs

We extend answer set programming of dynamical systems with more expressive programming constructs such sequence, conditional, loop, non-deterministic choice of actions/ arguments, and procedures. We discuss its relevance to the problem of answer set planning. We present an SMODELS encoding of these constructs and formally prove the correctness of our encoding.