CoordExecPlan.ppt.pptVIP

Landscape of Solution Approaches Coordinating executing plans Multiagent Plan execution semantics Domain-independent Teamwork Collaboration Example: Joint Intentions Explicit/Procedural Plan Coordination (without underlying semantics) Simple Idea: Provide specific plans to coordinate When at holding point, scout flies to battle position then informs those waiting at holding point that the battle position is scouted To fly in formation, each agent is assigned someone to follow in formation (follow-the-leader) Problem: Fragile! Difficult to get it right for all contingencies Problems with Explicit, semantics-free PlansNo framework to anticipate failures; numerous ad-hoc plans Upon reaching the holding area, the company waited, while the scout started flying forward. Unfortunately, the scout unexpectedly crashed into a hillside. Hence, the rest of the company just waited indefinitely at the holding area, waiting to receive a message from the (crashed) scout that the battle position was scouted. Upon recognizing that the mission was completed, one company member (the commander) returned to home base, abandoning others at the battle position The commander’s “follower” was unexpectedly shot down, and hence it failed to coordinate with others in its company. Joint-Intentions lead to Execution Robustness Team goals/plans are represented explicitly Individual intentions = scheduled actions Team members have commitments and responsibilities toward others when executing a team activity. Commitments to not just local actions, but achievement of overall goal Other approaches possible, e.g. SharedPlans [Grosz Kraus 96] Tries to avoid need for joint mental attitude Hierarchical plans Explicit Model of Teamworkusing Joint-Intentions (Cohen Levesque) A team ? jointly intends a team action if team members are jointly committed to completing that team action while mutually believing that they were doing it (not unintentional) Joint commitment is defined as joint persi