Affiliations: Dipartimento di Informatica, Università di Torino, Torino, Italy
Note:  Corresponding author: Roberto Micalizio, Dipartimento di Informatica, Università di Torino, corso Svizzera 185, 10149 Torino, Italy. E-mail: [email protected]
Abstract: Repairing a plan executed in a partially observable environment is a challenging task; especially when the plan to be repaired is part of a Multiagent Plan (MAP), and hence the synchronization among the agents further constrains the repair process. The paper formalizes a local plan repair strategy, where each agent in a MAP is responsible for controlling (monitoring and diagnosing) the actions it executes, and for autonomously repairing its own plan whenever an action failure is detected. The paper also describes how to mitigate the impact of an action failure on the plans of other agents when the local recovery strategy fails.
Keywords: Model-based diagnosis, plan execution monitoring, conformant planning