Multi-agent systems (MASs) do play an important role in the construction of
fault tolerant and robust robot systems. One major advantage of MAS is the
fact that multiple agents work towards a common goal, having different ski
lls for specific subtasks. Usually, agents have to use a common description
of the actions to be carried out. Since agents can join and leave the MAS
at any time, it is important that knowledge acquired by single agents can b
e transferred or propagated between agents, to ensure that knowledge is not
lost, in the case that an agent leaves the system. In this paper, techniqu
es will be presented that enable representation of common extendable action
knowledge for task solutions in an agent's knowledge base and additionally
, algorithms for propagating this knowledge between agents efficiently and
with minimum required communication effort. (C) 1999 Elsevier Science B.V.
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