Temporal Multiagent Planning with Concurrent Action Constraints
Matthew Crosby, Ronald P. A. Petrick · 2014
This paper investigates how centralised, cooperative, multi-agent planning problems with concurrent action constraints and heterogeneous agents can be encoded with some minor additions to PDDL, and how such encoded domains can be solved via a translation to temporal planning. Concurrency constraints are encoded on affordances (object-action tuples) and determine the conditions under which a particular ob-ject can (or must) be utilised concurrently. The effectiveness of the approach is evaluated on the Vehicles testing domain and on a new Warehouse domain, which is inspired by a real-world warehouse problem in which a centralised mission planner must find a concurrent plan for a fleet of robots in a manufacturing plant. The approach is shown to be promising, with the potential to support future work in the area.