Graph-based multiagent replanning algorithm

Authors:
Jian Feng Zhang;Xuan Thang Nguyen;Ryszard Kowalczyk
Affiliations:
Swinburne University of Technology, Melbourne VIC, Australia;Swinburne University of Technology, Melbourne VIC, Australia;Swinburne University of Technology, Melbourne VIC, Australia
Venue:
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Year:
2007

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Abstract

The paper presents a new approach for multiagent replanning based on Distributed Constraint Satisfaction (DisCSP) and Graph planning techniques. In this approach, a new distributed refinement strategy is proposed to construct a graph plan for fixing errors occurred during the plan execution. The strategy employs an "max-branching" heuristic that can reduce the final graph plan size and allow faster completion time for the graph construction. The graph plan is then compiled into a DisCSP problem and solved using a multi-variable version of the Asynchronous Backtracking Algorithm. The approach is demonstrated with experiments which show that distributed planning graph and CSP can practically solve the replanning problems in a multiagent environment.