# Cooperative Epistemic Multi-Agent Planning for Implicit Coordination

arXiv: https://arxiv.org/abs/1703.02196 · HTML: https://mlsanity.com/paper/1703.02196/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Mar 2017.

## Built on by (most cited first, 8 of 8)

- [Answer Set Planning: A Survey](https://mlsanity.com/paper/2202.05793/) (2022)
- [Efficient Multi-agent Epistemic Planning: Teaching Planners About Nested Belief](https://mlsanity.com/paper/2110.02480/) (2021)
- [Comprehensive Multi-Agent Epistemic Planning](https://mlsanity.com/paper/2109.08301/) (2021)
- [Adaptation and Communication in Human-Robot Teaming to Handle Discrepancies in Agents' Beliefs about Plans](https://mlsanity.com/paper/2307.03362/) (2023)
- [An Epistemic Human-Aware Task Planner which Anticipates Human Beliefs and Decisions](https://mlsanity.com/paper/2409.18545/) (2024)
- [Scaling Multi-Agent Epistemic Planning through GNN-Derived Heuristics](https://mlsanity.com/paper/2508.12840/) (2025)
- [Beyond Memorization: Distinguishing Between Pattern-Based and Epistemic Reasoning in LLMs Using Epistemic Puzzles](https://mlsanity.com/paper/2603.21350/) (2026)
- [Collective Counterfactual Planning: Coordination, Consent, and Verification under Representational Constraints](https://mlsanity.com/paper/2608.17932/) (2026)

## Abstract (arXiv)

Epistemic planning can be used for decision making in multi-agent situations with distributed knowledge and capabilities. Recently, Dynamic Epistemic Logic (DEL) has been shown to provide a very natural and expressive framework for epistemic planning. We extend the DEL-based epistemic planning framework to include perspective shifts, allowing us to define new notions of sequential and conditional planning with implicit coordination. With these, it is possible to solve planning tasks with joint goals in a decentralized manner without the agents having to negotiate about and commit to a joint policy at plan time. First we define the central planning notions and sketch the implementation of a planning system built on those notions. Afterwards we provide some case studies in order to evaluate the planner empirically and to show that the concept is useful for multi-agent systems in practice.