Graph-based multiagent replanning algorithm

The paper presents a new approach for multiagent replanning based on Distributed Constraint Satisfaction (DisCSP) and Graph planning techniques. In this approach, a new distributed refinement strategy is proposed to construct a graph plan for fixing errors occurred during the plan execution. The strategy employs an "max-branching" heuristic that can reduce the final graph plan size and allow faster completion time for the graph construction. The graph plan is then compiled into a DisCSP problem and solved using a multi-variable version of the Asynchronous Backtracking Algorithm. The approach is demonstrated with experiments which show that distributed planning graph and CSP can practically solve the replanning problems in a multiagent environment.