Routing and Scheduling in Answer Set Programming applied to Multi-Agent Path Finding: Preliminary Report

Roland Kaminski, Torsten Schaub, Tran Cao Son, Jiří Švancara, Philipp Wanko
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Abstract

We present alternative approaches to routing and scheduling in Answer Set Programming (ASP), and explore them in the context of Multi-agent Path Finding. The idea is to capture the flow of time in terms of partial orders rather than time steps attached to actions and fluents. This also abolishes the need for fixed upper bounds on the length of plans. The trade-off for this avoidance is that (parts of) temporal trajectories must be acyclic, since multiple occurrences of the same action or fluent cannot be distinguished anymore. While this approach provides an interesting alternative for modeling routing, it is without alternative for scheduling since fine-grained timings cannot be represented in ASP in a feasible way. This is different for partial orders that can be efficiently handled by external means such as acyclicity and difference constraints. We formally elaborate upon this idea and present several resulting ASP encodings. Finally, we demonstrate their effectiveness via an empirical analysis.
应用于多代理路径查找的答案集编程中的路由和调度:初步报告
我们提出了答案集编程(ASP)中路由和调度的替代方法,并在多代理路径查找的背景下对其进行了探讨。我们的想法是用部分命令来捕捉时间流,而不是用行动和流体的时间步骤来捕捉时间流。这也消除了对计划长度固定上限的需求。这样做的代价是,(部分)时间轨迹必须是非循环的,因为同一个动作或流体的多次出现无法再区分开来。虽然这种方法为路由建模提供了一个有趣的替代方案,但由于细粒度时序无法在 ASP 中以可行的方式表示,因此它无法替代调度。但对于部分订单来说,情况就不同了,因为部分订单可以通过非循环性和差异约束等外部手段有效处理。我们正式阐述了这一想法,并介绍了几种由此产生的 ASP 编码。最后,我们通过实证分析证明了它们的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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