---
title: "Continuous Time Planning for Multiagent Teams with Temporal Constraints"
authors:
  - "Zhengyu Yin"
  - "Milind Tambe"
doi: "10.5591/978-1-57735-516-8/IJCAI11-085"
url: "https://ijcai.org/proceedings/2011/85"
pdf: "https://ijcai.org/proceedings/2011/0085.pdf"
venue: "Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence"
year: 2011
pages: "465-470"
track: ""
keywords:
---

# Continuous Time Planning for Multiagent Teams with Temporal Constraints

Zhengyu Yin, Milind Tambe

*Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence*, pages 465-470. DOI: [10.5591/978-1-57735-516-8/IJCAI11-085](https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-085)

## Abstract

Continuous state DEC-MDPs are critical for agent teams in domains involving resources such as time, but scaling them up is a significant challenge. To meet this challenge, we first introduce a novel continuous-time DEC-MDP model that exploits transition independence in domains with temporal constraints. Moreimportantly, we present a new locally optimal algorithm called SPAC. Compared to the best previous algorithm, SPAC finds solutions of comparable quality substantially faster; SPAC also scales to larger teams of agents.