In this work we present a novel approach to solving concurrent multiagent planning problems in which several agents act in parallel. Our approach relies on a compilation from concurrent multiagent planning to classical planning, allowing us to use an off-the-shelf classical planner to solve the original multiagent problem. The solution can be directly interpreted as a concurrent plan that satisfies a given set of concurrency constraints, while avoiding the exponential blowup associated with concurrent actions. Our planner is the first to handle action effects that are conditional on what other agents are doing. Theoretically, we show that the compilation is sound and complete. Empirically, we show that our compilation can solve challenging multiagent planning problems that require concurrent actions.

本文提出了一种新的方法解决并行多智能体规划问题，通过从并发多智能体规划编译到经典规划，利用现有的经典规划器解决原始多智能体问题，解决方案可直接解释为满足一组给定并发约束条件的并发计划，避免了并发操作带来的指数级膨胀问题，同时作为第一个处理受其他智能体行为有条件影响的行动效果的规划器，在理论上，我们证明了这种编译的音效和完备性;在实践中，我们展示了我们的编译器可以解决需要并行操作的具有挑战性的多智能体规划问题 

使用并发条件效应解决多智体规划问题