MAP by plan reuse

MAPR (Multi-Agent Planning by plan Reuse): considers both the agents private and public information. It is inspired by iterative Multi-Agent Planning (MAP) techniques as the one by Jonsson&Rovatsos. MAPR first assigns a subset of public goals to each agent, while each agent might have a set of private goals also. Then, MAPR calls the first agent to provide a solution (plan) that takes into account its private and public goals. MAPR iteratively calls each agent with the solutions provided by previous agents. Each agent receives its own goals plus the goals of the previous agents. Thus, each agent solves its problem, but taking into account the previous agents solutions. Since previous solutions might consider private data, all private information from an agent is obfuscated for the next ones. Since each agent receives the plan from the previous agent that implicitly considers the solutions to all previous agents, instead of starting the search from scratch, it can also reuse the previous whole plan or only a subset of the actions. Experiments show that MAPR outperforms in several orders of magnitude state-of-the-art techniques in the tested domains.

Relevant papers:

Daniel Borrajo
Multi-Agent Planning by Plan Reuse (Extended Abstract)
12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013), Vol. 1, pp. 1141-1142, (2013)

Daniel Borrajo
Plan Sharing for Multi-Agent Planning
Preprints of the ICAPS'13 DMAP Workshop on Distributed and Multi-Agent Planning, pp. 57-65, (2013)