In classical logic, nonBoolean fluents, such as the location of an object, can be naturally described by functions. However, this is not the case in answer set programs, where the values of functions are pre-defined, and nonmonotonicity of the semantics is related to minimizing the extents of predicates but has nothing to do with functions. We extend the first-order stable model semantics by Ferraris, Lee, and Lifschitz to allow intensional functions -- functions that are specified by a logic program just like predicates are specified. We show that many known properties of the stable model semantics are naturally extended to this formalism and compare it with other related approaches to incorporating intensional functions. Furthermore, we use this extension as a basis for defining Answer Set Programming Modulo Theories (ASPMT), analogous to the way that Satisfiability Modulo Theories (SMT) is defined, allowing for SMT-like effective first-order reasoning in the context of ASP. Using SMT solving techniques involving functions, ASPMT can be applied to domains containing real numbers and alleviates the grounding problem. We show that other approaches to integrating ASP and CSP/SMT can be related to special cases of ASPMT in which functions are limited to non-intensional ones.

Recently Ferraris, Lee and Lifschitz proposed a new definition of stable models that does not refer to grounding, which applies to the syntax of arbitrary first-order sentences. We show its relation to the idea of loop formulas with variables by Chen, Lin, Wang and Zhang, and generalize their loop formulas to disjunctive programs and to arbitrary first-order sentences. We also extend the syntax of logic programs to allow explicit quantifiers, and define its semantics as a subclass of the new language of stable models by Ferraris et al. Such programs inherit from the general language the ability to handle nonmonotonic reasoning under the stable model semantics even in the absence of the unique name and the domain closure assumptions, while yielding more succinct loop formulas than the general language due to the restricted syntax. We also show certain syntactic conditions under which query answering for an extended program can be reduced to entailment checking in first-order logic, providing a way to apply first-order theorem provers to reasoning about non-Herbrand stable models.

In classical logic, nonBoolean fluents, such as the location of an object and the color of a ball, can be naturally described by functions, but this is not the case with the traditional stable model semantics, where the values of functions are pre-defined, and nonmonotonicity of the semantics is related to minimizing the extents of predicates but has nothing to do with functions. We extend the first-order stable model semantics by Ferraris, Lee and Lifschitz to allow intensional functions. The new formalism is closely related to multi-valued nonmonotonic causal logic, logic programs with intensional functions, and other extensions of logic programs with functions, while keeping similar properties as those of the first-order stable model semantics. We show how to eliminate intensional functions in favor of intensional predicates and vice versa, and use these results to encode fragments of the language in the input language of ASP solvers and CSP solvers.

Lin and Zhao's theorem on loop formulas states that in the propositional case the stable model semantics of a logic program can be completely characterized by propositional loop formulas, but this result does not fully carry over to the first-order case. We investigate the precise relationship between the first-order stable model semantics and first-order loop formulas, and study conditions under which the former can be represented by the latter. In order to facilitate the comparison, we extend the definition of a first-order loop formula which was limited to a nondisjunctive program, to a disjunctive program and to an arbitrary first-order theory. Based on the studied relationship we extend the syntax of a logic program with explicit quantifiers, which allows us to do reasoning involving non-Herbrand stable models using first-order reasoners. Such programs can be viewed as a special class of first-order theories under the stable model semantics, which yields more succinct loop formulas than the general language due to their restricted syntax.

We present a decidable class of first-order formulas in the general theory of stable models that can be instantiated even in the presence of function constants. The notion of an argument-restricted formula presented here is a natural generalization of both the notion of an argument-restricted program and the notion of a semi-safe sentence that have been studied in different contexts. Based on this new notion, we extend the notion of safety defined by Cabalar, Pearce and Valverde to arbitrary formulas that allow function constants, and apply the result to $\raspl$ programs and programs with arbitrary aggregates, ensuring finite groundability of those programs in the presence of function constants. We also show that under a certain syntactic condition, argument-restricted formulas can be turned into argument-restricted programs.