Reasoning in complex environments with the SelectScript declarative language

SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two directions. First, we have implemented hierarchical queries; second, we improve efficiency enabling manual design space exploration on different "search" strategies. We demonstrate the applicability of such extensions in two application problems; the basic language concepts are explained by solving the classical problem of the Towers of Hanoi and then a common path planning problem in a complex 3D environment is implemented.