摘要： 提出了一种基于约束传播的分布式多主体规划算法。主体之间的冲突检测与协调通过一种特殊的多主体协商来解决。在确定环境中该算法是可靠的。算法中主体之间交换的只是与冲突有关的动作、因果链和约束,具有通信量小、安全性高的优点。

关键词: 规划算法, 多主体系统, 约束传播

Abstract: This paper presents a distributed multi-agent planning algorithm based on constraints propagating. Conflicts are detected and resolved via a special type of negotiation among agents, consistency checking for constraints. The algorithm is sound under deterministic circumstance. In this algorithm, agents only exchange information about actions, casual links and constraints related to conflicts. It is of less communication, higher security than that exchanging the whole plan.

中图分类号: 

• TP18