Diagnosing Delays in Multi-Agent Plans Execution

The paper introduces the notion of Temporal Multi-Agent Plan (TMAP) and proposes a methodology, based on Simple Temporal Problems (STP), for detecting and diagnosing action execution delays. Actions are characterized by a finite set of behavioral modes, and each behavioral mode is a continuous interval of possible durations of the action. Nominal modes represent the expected durations, whereas faulty modes represent delays. Solving such diagnostic problems requires to find an assignment of modes to the actions that is consistent with the received observations and maximizes the likelihood of the delayed durations. An implementation of the approach and some preliminary experimental results are also discussed.