DeepAI AI Chat
Log In Sign Up

Explanation Generation for Multi-Modal Multi-Agent Path Finding with Optimal Resource Utilization using Answer Set Programming

by   Aysu Bogatarkan, et al.

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, and subject to some constraints on the lengths of paths. We consider a general version of MAPF, called mMAPF, that involves multi-modal transportation modes (e.g., due to velocity constraints) and consumption of different types of resources (e.g., batteries). The real-world applications of mMAPF require flexibility (e.g., solving variations of mMAPF) as well as explainability. Our earlier studies on mMAPF have focused on the former challenge of flexibility. In this study, we focus on the latter challenge of explainability, and introduce a method for generating explanations for queries regarding the feasibility and optimality of solutions, the nonexistence of solutions, and the observations about solutions. Our method is based on answer set programming. This paper is under consideration for acceptance in TPLP.


Flexible and Explainable Solutions for Multi-Agent Path Finding Problems

The multi-agent path finding (MAPF) problem is a combinatorial search pr...

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

We study a dynamic version of multi-agent path finding problem (called D...

Conflict-Based Search for Explainable Multi-Agent Path Finding

In the Multi-Agent Path Finding (MAPF) problem, the goal is to find non-...

Decentralised Approach for Multi Agent Path Finding

Multi Agent Path Finding (MAPF) requires identification of conflict free...

Explainability in autonomous pedagogically structured scenarios

We present the notion of explainability for decision-making processes in...

Planning and Scheduling in Digital Health with Answer Set Programming

In the hospital world there are several complex combinatory problems, an...

Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation

In this paper we present a motion planner for LIMMS, a modular multi-age...