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