Multi-modal multi-agent path finding with optimal resource utilization
Boğatarkan, Aysu and Erdem, Esra and Kleiner, Alexander and Patoğlu, Volkan (2020) Multi-modal multi-agent path finding with optimal resource utilization. In: 5th International Conference on the Industry 4.0 Model for Advanced Manufacturing (AMP 2020), Belgrade, Serbia
Official URL: http://dx.doi.org/10.1007/978-3-030-46212-3_24
The multi-agent path finding (MAPF) problem is a combinatorial search problem that aims at finding paths for multiple agents (e.g., robots) in an environment (e.g., an autonomous warehouse) such that no two agents collide with each other. We study a general version of MAPF, called mMAPF, that involves further challenges, such as multi-modal transportation modes, a set of waypoints to visit for each agent, and consumption of different types of resources. We introduce a declarative method to solve mMAPF, using answer set programming that provides a flexible formal framework to address all these challenges while optimizing multiple objectives.
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