Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming

• URL: http://arxiv.org/abs/2009.10249v1
• Date: Tue, 22 Sep 2020 00:50:35 GMT
• Title: Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
• Authors: Basem Atiq (Sabanci University), Volkan Patoglu (Sabanci University), Esra Erdem (Sabanci University)
• Abstract summary: 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.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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