Partial-Order Planning with Concurrent Interacting Actions
  In order to generate plans for agents with multiple actuators, agent teams,
or distributed controllers, we must be able to represent and plan using
concurrent actions with interacting effects. This has historically been
considered a challenging task requiring a temporal planner with the ability to
reason explicitly about time. We show that with simple modifications, the
STRIPS action representation language can be used to represent interacting
actions. Moreover, algorithms for partial-order planning require only small
modifications in order to be applied in such multiagent domains. We demonstrate
this fact by developing a sound and complete partial-order planner for planning
with concurrent interacting actions, POMP, that extends existing partial-order
planners in a straightforward way. These results open the way to the use of
partial-order planners for the centralized control of cooperative multiagent
systems.
