Abstract
Coordinated sequential decision making of a team of cooperative agents is described by principles of multiagent planning. In this work, we extend the MA-Strips formalism with the notion of extensibility and reuse a well-known initiator–participants scheme for agent negotiation. A multiagent extension of the Generate-And-Test principle is used to distributively search for a coordinated multiagent plan. The generate part uses a novel plan quality estimation technique based on metrics often used in the field of diverse planning. The test part builds upon planning with landmark actions by compilation to classic planning. We designed a new multiagent planning domain which illustrates the basic properties of the proposed multiagent planning approach. Finally, our approach was experimentally evaluated on four classic IPC benchmark domains modified for multiagent settings. The results show (1) which combination of plan quality estimation and (2) which diversity metrics provide the best planning efficiency.
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Notes
- 1.
This rules out joint actions. Any MA-Strips problem with joint actions can be translated to an equivalent problem without joint actions. However, a solution that would take advantage joint actions is left for future research.
- 2.
- 3.
We have implemented a simple implementation of \(\mathtt {SinglePlan}\) by translating a planning problem into a SAT problem instance and by calling an external SAT solver to solve it. It is easy to instruct a SAT solver to compute a solution different from previously found solutions.
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Acknowledgements
This research was supported by the Czech Science Foundation (grants no. 13-22125S and 15-20433Y).
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Tožička, J., Jakubův, J., Durkota, K., Komenda, A. (2015). Extensibility Based Multiagent Planner with Plan Diversity Metrics. In: Nguyen, N., Kowalczyk, R., Duval, B., van den Herik, J., Loiseau, S., Filipe, J. (eds) Transactions on Computational Collective Intelligence XX . Lecture Notes in Computer Science(), vol 9420. Springer, Cham. https://doi.org/10.1007/978-3-319-27543-7_6
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