A formalization of multi-agent planning with explicit agent representation

We present a formalization of multi-agent planning problems in which agents are explicitly represented. In contrast with previous formalisations, we discuss the advantages of representing agents explicitly and show the implementation in the Unified Planning formalism and some practical examples. The proposed formalism is equivalent to other models, in particular to Multi Agent Planning Domain Definition Language (MA-PDDL), and can thus be compiled into it and solved by existing multi-agent planning solvers. Moreover, we present a further extension to define more complex multi-agent problems with explicit models of other agents.