Planning for Implicit Coordination using FOND

Anonymous

Abstract: Epistemic Planning can be used to achieve implicit coordination in cooperative multi-agent settings where knowledge and capabilities are distributed between the agents. In these scenarios, agents plan and act on their own without having to agree on a common plan or protocol beforehand. However, epistemic planning is undecidable in general. In this paper, we identify a decidable fragment of epistemic planning that allows for arbitrary initial state uncertainty and nondeterminism, but where actions can never increase the uncertainty of the agents. We show that in this fragment, planning with and without implicit coordination can be reduced to fully observable nondeterministic (FOND) planning and that it shares the same omputational complexity. We also provide a small case study, modeling the problem of multi-agent path finding with destination uncertainty in FOND, to show that our compilation approach can be successfully applied in practice.