Task Coordination for Non-cooperative Planning Agents

We consider task planning problems where a number of noncooperative agents have to work on a joint problem. Such a problem consists in completing a set of interdependent, hierarchically ordered tasks. Each agent is assigned a subset of tasks to perform for which it has to construct a plan. Since the agents are non-cooperative, they insist on planning independently and do not want to revise their individual plans when the joint plan has to be assemled from the individual plans. We present a formal framework to study some computational aspects of this non-cooperative coordination problem.