Game Theoretic Approach to Multi-Robot Planning

In multi-agent (multi-robot) environment each agent tries to reach its own goal and it implies that in most cases the agent goals conflict. Under some assumptions such problems can be modelled as a STRIPS system (for instance Block World environment) with one initial state and disjunction of goal states. If STRIPS planning problem is invertible then it is possible to apply machinery for planning in the presence of incomplete information to solve the inverted problem and then to find a solution for the original problem. In the paper we propose the planning algorithm that solves problem described above and, basing on known results, we analyse its computational complexity. To make the plan complete we use non-cooperative strategies.