A General, Fully Distributed Multi-Agent Planning Algorithm

We present a fully distributed multi-agent planning algorithm. Our methodology uses distributed constraint satisfaction tocoordinate between agents, and local planning to ensure theconsistency of these coordination points. To solve the distributedCSP efficiently, we must modify existing methods to takeadvantage of the structure of the underlying planning problem. Inmulti-agent planning domains with limited agent interaction, ouralgorithm empirically shows scalability beyond state of the artcentralized solvers. Our work also provides a novel, real-worldsetting for testing and evaluating distributed constraint satisfactionalgorithms in structured domains and illustrates how existingtechniques can be altered to address such structure.

Authors

• Raz Nissim Ben-Gurion University of the Negev
• Ronen Brafman
• Carmel Domshlak

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