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.

中文翻译：

---

使用答案集编程基于冲突解决的动态多代理路径查找

我们研究了动态版本的多智能体寻路问题（称为 D-MAPF），其中现有智能体可能会离开，而新智能体可能会在不同时间加入团队。我们引入了一种基于冲突解决的新方法来解决 D-MAPF。这个想法是，当一组新代理加入团队并且存在冲突时，而不是为整个团队重新规划，只为计划相互冲突的代理的最小子集重新规划。我们利用答案集编程作为我们规划、重新规划和识别最小冲突集的方法的一部分。