Multi-agent plan-execution health repair∗

This paper presents a protocol for plan health repair in multi-agent plan execu-tion. Plan health repair aims at avoiding conflicts that might arise due to disruptions in the execution of a plan. This can be achieved by adjusting the executions of tasks in-stead of replanning the tasks. For this purpose, established methods from the domains of planning, discrete event systems, model-based diagnosis, and constraint satisfac-tion problems have been combined.