Multi-agent coordination by temporal plan fusion: Application to combat search and rescue

  • Authors:

  • Mohamad K. Allouche;Abdeslem Boukhtouta

  • Affiliations:

  • Defence R&D Canada, Valcartier, 2459 Blvd. Pie XI North, Val Béélair, Canada G3J 1X5;Defence R&D Canada, Valcartier, 2459 Blvd. Pie XI North, Val Béélair, Canada G3J 1X5

  • Venue:
  • Information Fusion
  • Year:
  • 2010

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Abstract

Coordination of actions and plans that must be achieved by multiple agents is one of the most difficult tasks in the multi-agent domain. In order to work together and achieve a common goal, agents need to coordinate their plans in a way that guarantees, if possible, the success of each individual agent plan. In this work, we propose a temporal fusion mechanism that allows a set of agents to fuse their plans and generate a global coordinated plan. First, we define a temporal plan as a set of temporally constrained actions. The fusion of several temporal plans is a temporal plan, which can be executed by several agents. The proposed framework is applied to a Combat Search and Rescue application.