Maliah

Collaborative privacy-preserving planning (CPPP) is a multi-agent planning task in which agents need to achieve a common set of goals without revealing certain private information. In many CPPP algorithms the individual agents reason about a projection of the multiagent problem onto a single-agent classical planning problem. For example, an agent can plan as if it controls the public actions of other agents, ignoring their unknown private preconditions and effects, and use the cost of this plan as a heuristic for the cost of the full, multi-agent plan. Using such a projection, however, ignores some dependencies between agents' public actions. In particular, it does not contain dependencies between actions of other agents caused by their private facts.