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

Basem Atiq
(Sabanci University)
Volkan Patoglu
(Sabanci University)
Esra Erdem
(Sabanci University)

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.

In Francesco Ricca, Alessandra Russo, Sergio Greco, Nicola Leone, Alexander Artikis, Gerhard Friedrich, Paul Fodor, Angelika Kimmig, Francesca Lisi, Marco Maratea, Alessandra Mileo and Fabrizio Riguzzi: Proceedings 36th International Conference on Logic Programming (Technical Communications) (ICLP 2020), UNICAL, Rende (CS), Italy, 18-24th September 2020, Electronic Proceedings in Theoretical Computer Science 325, pp. 223–229.
Published: 19th September 2020.

ArXived at: https://dx.doi.org/10.4204/EPTCS.325.27 bibtex PDF
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