Planning in multi-agent environment as inverted STRIPS planning in the presence of uncertainty

In multi-agent (multi-robot) environment each agent tries to achieve its own goal and it implies that in most cases the agent goals conflict. However, there exists a group of problems where it is possible to find a way to satisfy all goals even in conflict situations. Such problems can be modelled as a STRIPS system (for instance Block World environment). If STRIPS planning problem is invertible than it is possible to apply planning under uncertainty methodologies to solve inverted problem and than find a plan that solves multi-agent problem. In the paper multi-agent Block World environment as an invertible STRIPS system is presented. Two cases are considered and simulated: when goals conflict and do not conflict. Necessary and sufficient conditions of plan existence are formulated.