EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners
Planning problems are, in general, PSPACE-complete; large problems, especially multi-agent problems with required co-ordination, can be intractable or impractical to solve. Factored planning and multi-agent planning both address this by separating multi-agent problems into tractable sub-problems, bu...
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| Format: | Article |
| Language: | English |
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LibraryPress@UF
2022-05-01
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| Series: | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
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| Online Access: | https://journals.flvc.org/FLAIRS/article/view/130647 |
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| author | Mark McArthur Yashar Moshfeghi Michael Cashmore |
| author_facet | Mark McArthur Yashar Moshfeghi Michael Cashmore |
| author_sort | Mark McArthur |
| collection | DOAJ |
| description | Planning problems are, in general, PSPACE-complete; large problems, especially multi-agent problems with required co-ordination, can be intractable or impractical to solve. Factored planning and multi-agent planning both address this by separating multi-agent problems into tractable sub-problems, but there are limitations in the expressivity of existing planners and in the ability to handle tightly coupled multi-agent problems. This paper presents EGOPLAN, a framework which factors a multi-agent problem into related sub-problems which are solved by iteratively calling on a single agent planner. EGOPLAN is evaluated on a multi-robot test domain with durative actions, required coordination, and temporal constraints, comparing the performance of a temporal planner, OPTIC-CPLEX, with and without EGOPLAN. Our results show that for our test domain, using EGOPLAN allows OPTIC-CPLEX to solve problems that are twice as complex as it can solve without EGOPLAN, and to solve complex problems significantly faster. |
| format | Article |
| id | doaj-art-9eef20a7f2a04ed0b9bb6f3ad9e87866 |
| institution | DOAJ |
| issn | 2334-0754 2334-0762 |
| language | English |
| publishDate | 2022-05-01 |
| publisher | LibraryPress@UF |
| record_format | Article |
| series | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| spelling | doaj-art-9eef20a7f2a04ed0b9bb6f3ad9e878662025-08-20T03:07:32ZengLibraryPress@UFProceedings of the International Florida Artificial Intelligence Research Society Conference2334-07542334-07622022-05-013510.32473/flairs.v35i.13064766846EgoPlan: A Framework for Multi-Agent Planning Using Single Agent PlannersMark McArthur0Yashar Moshfeghi1Michael Cashmore2University of StrathclydeUniversity of StrathclydeUniversity of StrathclydePlanning problems are, in general, PSPACE-complete; large problems, especially multi-agent problems with required co-ordination, can be intractable or impractical to solve. Factored planning and multi-agent planning both address this by separating multi-agent problems into tractable sub-problems, but there are limitations in the expressivity of existing planners and in the ability to handle tightly coupled multi-agent problems. This paper presents EGOPLAN, a framework which factors a multi-agent problem into related sub-problems which are solved by iteratively calling on a single agent planner. EGOPLAN is evaluated on a multi-robot test domain with durative actions, required coordination, and temporal constraints, comparing the performance of a temporal planner, OPTIC-CPLEX, with and without EGOPLAN. Our results show that for our test domain, using EGOPLAN allows OPTIC-CPLEX to solve problems that are twice as complex as it can solve without EGOPLAN, and to solve complex problems significantly faster.https://journals.flvc.org/FLAIRS/article/view/130647factored planningtask planningmulti-agent planningmulti-robot planningsystem architectures |
| spellingShingle | Mark McArthur Yashar Moshfeghi Michael Cashmore EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners Proceedings of the International Florida Artificial Intelligence Research Society Conference factored planning task planning multi-agent planning multi-robot planning system architectures |
| title | EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners |
| title_full | EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners |
| title_fullStr | EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners |
| title_full_unstemmed | EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners |
| title_short | EgoPlan: A Framework for Multi-Agent Planning Using Single Agent Planners |
| title_sort | egoplan a framework for multi agent planning using single agent planners |
| topic | factored planning task planning multi-agent planning multi-robot planning system architectures |
| url | https://journals.flvc.org/FLAIRS/article/view/130647 |
| work_keys_str_mv | AT markmcarthur egoplanaframeworkformultiagentplanningusingsingleagentplanners AT yasharmoshfeghi egoplanaframeworkformultiagentplanningusingsingleagentplanners AT michaelcashmore egoplanaframeworkformultiagentplanningusingsingleagentplanners |