Heuristic multiagent planning with self-interested agents

The focus of multiagent planning research has recently turned towards domains with self-interested agents leading to the definition of Coalition–Planning Games (CoPGs). In this paper, we investigate algorithms for solving a restricted class of “safe” CoPGs, in which no agent can benefit from making another agent’s plan invalid. We introduce a novel, generalised solution concept, and show how problems can be translated so that they can be solved by standard single– agent planners. However, standard planners cannot solve problems like this efficiently. We then introduce a new multiagent planning algorithm and the benefits of our approach are illustrated empirically in an example logistics domain.