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

arXiv: https://arxiv.org/abs/2009.10249 · HTML: https://mlsanity.com/paper/2009.10249/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Sep 2020.

## Built on by (most cited first, 1 of 1)

- [A General Framework for Dynamic MAPF using Multi-Shot ASP and Tunnels](https://mlsanity.com/paper/2507.20703/) (2025)

## Abstract (arXiv)

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.