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The Cartographer
Dynamic Multi-Agent Path Finding based on Conflict Resolution using Answer Set Programming
September 22, 2020 Β· Declared Dead Β· π ICLP Technical Communications
"No code URL or promise found in abstract"
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Authors
Basem Atiq, Volkan Patoglu, Esra Erdem
arXiv ID
2009.10249
Category
cs.AI: Artificial Intelligence
Cross-listed
cs.LO,
cs.MA,
cs.RO
Citations
3
Venue
ICLP Technical Communications
Last Checked
4 months ago
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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