Blame Attribution for Multi-Agent Pathfinding Execution Failures

Avraham Natan (Ben-Gurion University of the Negev), Roni Stern (Ben-Gurion University of the Negev), Meir Kalech (Ben-Gurion University of the Negev)

Abstract

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.