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arXiv 2009.10249cs.AIcs.LOcs.MAcs.RO
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基于答案集规划冲突消解的多Agent动态路径搜索

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

Sabanci University(萨班哲大学)

Basem Atiq, Volkan Patoglu, Esra Erdem

摘要:

我们研究了一个动态版本的多智能体路径寻找问题(称为D-MAPF),现有的代理人可能会离开,新的代理人可能会加入团队在不同的时间。提出了一种基于冲突消解的D-MAPF算法。这个想法是,当一组新的代理加入团队,有冲突,而不是重新规划整个团队,重新规划只有一个最小的子集的代理,其计划相互冲突。我们利用答案集编程作为我们的方法的一部分,规划,重新规划和确定最小的冲突集。

英文摘要:

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.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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