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

TL;DR

This paper presents a conflict-resolution approach for dynamic multi-agent path finding using answer set programming, enabling efficient replanning when agents join or leave.

Contribution

It introduces a novel method that replans only for conflicting agents in dynamic scenarios, improving efficiency over full replanning.

Findings

Replans only for conflicting agents, reducing computational effort.

Uses answer set programming for conflict detection and planning.

Effective in dynamic multi-agent environments.

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.