Bradley J. Clement and Anthony C. Barrett
Interacting agents that interleave planning and execu-tion must reach consensus on their commitments to each other. For domains with varying degrees of in-teraction and different constraints on communication and computation, agents will require different coordina-tion protocols in order to efficiently achieve their goals. ShAC (Shared Activity Coordination) is a framework for designing coordination protocols and an algorithm for continually coordinating agents using these proto-cols during execution. We show how a variety of pro-tocols can be constructed using this framework and de-scribe how ShAC coordinates two rovers and an orbiter in a simulated Mars scenario.