  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.
