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Paper detail

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

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.

preprint2020arXivOpen access
Basem AtiqVolkan PatogluEsra Erdem
Logic in Computer ScienceArtificial IntelligenceRoboticsMultiagent Systems
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Basem AtiqVolkan PatogluEsra Erdem

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