The generation and execution of plans for multiple agents

Research in artificial intelligence focuss on «planning for multiple agents» and «distributed planning». The work described in this paper is in the first category, planning for multiple agent. Taking the STRIPS representation of actions, and directed acyclic graphs (DAGs) as plan representations particularly well-suited to parallel execution, it formally analyzes the following two questions: how can DAG plans be generated, and what is an efficient algorithm that can be used by a supervisor directing the execution of a DAG plan by multiple agents?