ADP an Agent Decomposition Planner CoDMAP 2015

ADP (an Agent Decomposition-based Planner) is designed to deduce agent decompositions from standard PDDL-encoded planning problems and then to exploit such found decompositions to generate a heuristic used for efficient planning. The decomposition process partitions the problem into an environment and a number of agents which act on and influence the environment, but can not (directly) effect each other. The heuristic calculation is an adaptation of the FF relaxation heuristic to incorporate multiagent information. Relaxed planning graphs are only ever generated for single-agent subproblems. However, when cooperation is necessary, an agent’s starting state may include facts added by others.