Blame Attribution for Multi-Agent Path Finding Execution Failures

Avraham Natan, Roni Stern, Meir Kalech

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In Multi-Agent Systems (MAS), Multi-Agent Path Finding (MAPF) is the problem of finding a conflict-free plan for a group of agents from a set of starting points to a set of target points. Deviations from this plan are standard in real-world applications and may decrease overall system efficiency and even lead to accidents and deadlocks. In large MAS scenarios with physical robots, multiple faulty events occur over time, contributing to the overall degraded system performance. This raises the main problem we address in this work: how to attribute blame for a degraded MAS performance over a set of faulty events. We formally define this problem and propose using the Shapley values to solve it. Then, we propose an algorithm that efficiently approximates Shapley values by considering only some subsets of faulty events set. We analyze this algorithm theoretically and experimentally and demonstrate that it enables effectively trading off runtime for error.

Original languageEnglish
Title of host publicationECAI 2023 - 26th European Conference on Artificial Intelligence, including 12th Conference on Prestigious Applications of Intelligent Systems, PAIS 2023 - Proceedings
EditorsKobi Gal, Kobi Gal, Ann Nowe, Grzegorz J. Nalepa, Roy Fairstein, Roxana Radulescu
PublisherIOS Press BV
Number of pages8
ISBN (Electronic)9781643684369
StatePublished - 28 Sep 2023
Externally publishedYes
Event26th European Conference on Artificial Intelligence, ECAI 2023 - Krakow, Poland
Duration: 30 Sep 20234 Oct 2023

Publication series

NameFrontiers in Artificial Intelligence and Applications
ISSN (Print)0922-6389
ISSN (Electronic)1879-8314


Conference26th European Conference on Artificial Intelligence, ECAI 2023

Bibliographical note

Publisher Copyright:
© 2023 The Authors.


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