Agent Cooperation for Monitoring and Diagnosing a MAP

The paper addresses the tasks of monitoring and diagnosing the execution of a Multi-Agent Plan, taking into account a very challenging scenario where the degree of system observability may be so low that an agent may not have enough information for univocally determining the outcome of the actions it executes (i.e., pending outcomes). The paper discusses how the ambiguous results of the monitoring step (i.e., trajectory-set) are refined by exploiting the exchange of local interpretations between agents, whose actions are bounded by causal dependencies. The refinement of the trajectory-set becomes an essential step to disambiguate pending outcomes and to explain action failures..