Planning with Concurrent Interacting Actions

Abstract

In order to generate plans for agents with multiple actuators or agent teams, we must be able to represent and plan using concurrent actions with interacting effects. Historically, this has been considered a challenging task that could require a temporal planner. We show that, with simple modifications, the STRIPS action representation language can be used to represent concurrent interacting actions. Moreover, current algorithms for partial-order planning require only small modifications in order to handle this languageand produce coordinated multiagent plans. These results open the way to partial order planners for cooperative multiagent systems. 1 Introduction In order to construct plans for agent teams or agents with multiple actuators, such as multi-armed robots, we must be able to model the effects and interactions of multiple actions executed concurrently, and generate plans that take these interactions into account. A viable solution to the multiagent planning (MAP) problem mu...