Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
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.
- Publication:
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arXiv e-prints
- Pub Date:
- September 2020
- DOI:
- 10.48550/arXiv.2009.10249
- arXiv:
- arXiv:2009.10249
- Bibcode:
- 2020arXiv200910249A
- Keywords:
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- Computer Science - Artificial Intelligence;
- Computer Science - Logic in Computer Science;
- Computer Science - Multiagent Systems;
- Computer Science - Robotics
- E-Print:
- In Proceedings ICLP 2020, arXiv:2009.09158