Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
Artificial Intelligence
2020-09-23 v1 Logic in Computer Science
Multiagent Systems
Robotics
Abstract
We study a dynamic version of multi-agent path finding problem (called D-MAPF) where existing agents may leave and new agents may join the team at different times. We introduce a new method to solve D-MAPF based on conflict-resolution. The idea is, when a set of new agents joins the team and there are conflicts, instead of replanning for the whole team, to replan only for a minimal subset of agents whose plans conflict with each other. We utilize answer set programming as part of our method for planning, replanning and identifying minimal set of conflicts.
Cite
@article{arxiv.2009.10249,
title = {Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming},
author = {Basem Atiq and Volkan Patoglu and Esra Erdem},
journal= {arXiv preprint arXiv:2009.10249},
year = {2020}
}
Comments
In Proceedings ICLP 2020, arXiv:2009.09158