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In this paper we propose a novel multi-agent planning framework that attempts to deal with dynamic nature of cyber physical system while planning and show usefulness of our approach in exploring different strategies and configurations of planning architecture. The proposed approach use multi-agent planners at different layers of abstraction to collaborate by using concepts of task sharing, brokering of task allocation, continuous adaptive planning and blackboard based multi-agent interaction.

C-MAP: Framework for Multi-agent Planning in Cyber Physical Systems