Extensibility Based Multiagent Planner with Plan Diversity Metrics

  • Jan Tožička
  • Jan Jakubův
  • Karel Durkota
  • Antonín Komenda
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9420)


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.


Multiagent planning Diverse planning Planning landmarks 



This research was supported by the Czech Science Foundation (grants no. 13-22125S and 15-20433Y).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Jan Tožička
    • 1
  • Jan Jakubův
    • 1
  • Karel Durkota
    • 1
  • Antonín Komenda
    • 1
  1. 1.Agent Technology CenterCzech Technical UniversityPragueCzech Republic

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