An extension of FMAP for joint actions

Although there has been a lot of work in multi-agent planning, very few state-of-the-art multi-agent planners exist; a notable exception being FMAP. In multi agent planning joint actions frequently arise. Although FMAP is quite powerful, it cannot handle a type of joint actions. In this paper, we show how FMAP can be tuned to handle such joint actions. The proposed system has been validated with a benchmark domain.