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A Two-Stage Online Approach for Collaborative Multi-Agent Planning under Uncertainty

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationScalable Uncertainty Management
Subtitle of host publication10th International Conference, SUM 2016, Nice, France, September 21-23, 2016: Proceedings
EditorsSteven Schockaert, Pierre Senellart
Publisher or commissioning bodySpringer
Number of pages16
ISBN (Electronic)9783319458564
ISBN (Print)9783319458557
StatePublished - Aug 2016

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743


In a team of multiple agents, the pursuance of a common goal is a defining characteristic. Since agents may have different capabilities, and effects of actions may be uncertain, a common goal can generally only be achieved through a careful cooperation between the different agents. In this work, we propose a novel two-stage planner that combines online planning at both team level and individual level through a subgoal delegation scheme. The proposal brings the advantages of online planning approaches to the multi-agent setting. A number of modifications are made to a classical UCT approximate algorithm to (i) adapt it to the application domains considered, (ii) reduce the branching factor in the underlying search process, and (iii) effectively manage uncertain information of action effects by using information fusion mechanisms. The proposed online multi-agent planner reduces the cost of planning and decreases the temporal cost of reaching a goal, while significantly increasing the chance of success of achieving the common goal.

The original version of this chapter has been revised: In an older version Fig. 6 was represented incorrectly. An erratum to this chapter is available at 10.1007/978-3-319-45856-4_27

An erratum to this chapter can be found at



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