Multi-agent Planing Based on Causal Graph

Multi-agent planning is a kind of difficult but not fully studied planning problem. In the cooperative assumption, previous approaches either find a globally consistent plan by the backtrack-based solution, or make the local plans first, and then merge them. However, local planning between agents is inconsistent and conflicting in most case, in this case finding a globally consistent plan is time-consuming and costly. In this paper, we propose a novel approach to get causal-links graph from causal constraints between agents in solving multi-agent planning problems to reduce the effort of repeatedly searching agents’ consistent local plans. Theoretical analysis show that our approach can efficiently solve multi-agent planning problems with tightly degree of coupling level.