Abstract
This chapter describes an object-oriented solution to the problem of generating coordinated, concurrent, actions involving multiple agents, such as robots, to transform an initial state of a given world into a desired goal state. The solution views the agents as subplanners, each of which generates a plan to solve a subproblem of the given planning problem. The partitioning into subproblems is performed by applying an “object-oriented decomposition” concept. In this concept, the decomposition of the problem is based on assigning each agent specific objects to act on.
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