The Multirobot domain.                                    January, 1989. 




	This domain is based in the STRIPS domain. The main difference 
with respect to it is that multiple agents can cooperate, i.e. there exist 
two robots (it could be extended to more than two) that can perform the 
different tasks alone or in a team. Now both robots  have the same 
capabilities, so when the task can be performed by just one robot, any 
is chosen, although some of the control rules try to select the robot that 
can solve the problem more efficiently (for example, the one that is closer 
to the object that has to be moved).

The tasks that can be performed by a team of robots are basically pushing 
objects, putting blocks into boxes, and taking them out. A robot can do it 
by itself if the weight of the object is less than a certain limit. If not, 
both robots cooperate.

Another additions  to the existing Strips domain have been the locking and 
unlocking of doors using keys.

Future extensions:

-the robots could have different capabilities; the best robot should be 
 chosen in that case

-when the robots have to push objects through different rooms, the best 
 path from the origen to the destination should be chosen.


Note: the inference rule about the connect and connects predicates does 
      not work properly in all the cases.

This domain is unstable. New control rules will be probably added,
and also the operators can change. If you have any suggestion or
question, please send mail to aperez@cs.cmu.edu.