Blame Attribution for Multi-Agent Pathfinding Execution Failures

Avraham Natan, Roni Stern, Meir Kalech

Research output: Contribution to journalConference articlepeer-review


When executing large Multi-Agent Path Finding (MAPF) scenarios, faulty events can occur over time and contribute to the overall degraded system performance. This raises the problem of how to attribute blame over the set of faulty events. The first contribution of this paper is to define this problem and propose the well-known Shapley value for solving it. The second contribution is an efficient approach for approximating Shapley values that is inspired by diagnosis concepts.

Original languageEnglish
Pages (from-to)2358-2360
Number of pages3
JournalProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
StatePublished - 2023
Externally publishedYes
Event22nd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2023 - London, United Kingdom
Duration: 29 May 20232 Jun 2023

Bibliographical note

Publisher Copyright:
© 2023 International Foundation for Autonomous Agents and Multiagent Systems ( All rights reserved.


This research was funded by ISF grant No. 1716/17, and by the ministry of science grant No. 3-6078.

FundersFunder number
Ministry of Science, ICT and Future Planning3-6078
Israel Science Foundation1716/17


    • Blame Attribution
    • Diagnosis
    • Multi-Agent Pathfinding
    • Multi-Agent Systems


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