A Distributed Control Loop for Autonomous Recovery in a Multi-Agent Plan

This paper considers the execution of a Multi- Agent Plan in a partially observable environment, and faces the problem of recovering from action failures. The paper formalizes a local plan repair strategy, where each agent in the system is responsible for controlling (monitoring and diagnosing) the actions it executes, and for autonomously repairing its own plan when an action failure is detected. The paper describes also how to mitigate the impact of an action failure on the plans of other agents when the local recovery strategy fails.