Beliefs In Multiagent Planning: From One Agent to Many

Single-agent planning in partially observable settings is a well understood problem and existing planners can represent and solve a wide variety of meaningful instances. In the most common formulation, the problem is cast as a non-deterministic search problem in belief space where beliefs are sets of states that the agent regards as possible. In this work, we build on the methods developed for representing beliefs in single-agent planning to introduce a simple but expressive formulation for handling beliefs in multi-agent settings. The resulting formulation deals with multiple agents that can act on the world (physical or ontic actions), and can sense either the state of the world (truth of objective formulas) or the mental state of other agents (truth of epistemic formulas). The formulation captures and defines a fragment of dynamic epistemic logics that is simple and expressive but which does not involve event models or product updates, and has the same complexity of belief tracking in the single agent setting and can benefit from the use of similar techniques. We show indeed that the problem of computing multiagent linear plans can be actually compiled into a classical planning problem using the techniques that have been developed for compiling conformant and contingent problems in the single agent setting and report experimental results