A New Planning Algorithm Based on Constraints Propagating

This paper presents a distrusted multi-agent planning algorithm based on constraints propagating. In our algorithm, conflicts are detected and resolved through a special type of negotiation among agents, i.e. consistency checking for constraints. The algorithm is sound under deterministic circumstance. In our algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.