Multi-modal multi-agent path finding with optimal resource utilization

Abstract

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.