@inproceedings {icaps16-18,
    track    = {​Main Track},
    title    = {Online Macro Generation for Privacy Preserving Planning},
    url      = {http://www.aaai.org/ocs/index.php/ICAPS/ICAPS16/paper/view/13013},
    author   = {Guy Shani and  Ronen Brafman and  Shlomi Maliah},
    abstract = {Agents with private actions that use Multi-Agent Forward Search (MAFS), often repeatedly develop similar paths. We describe a simple technique for online macro generation that provides agents with shortcuts that reuse successful previous action sequences. By focusing on specific sequences that end with a single public action only, we are able to address the utility problem -- our technique has little overhead and has negligible cost in the worst case, while providing substantial speedups in domains where agents have a reasonable amount of private actions. We describe two variants of our approach, both with attractive privacy preserving properties, and demonstrate the value of macros empirically.},
    keywords = {Distributed and multi-agent planning}
}

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