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Endhoven, L. (author), Klos, T.B. (author), Witteveen, C. (author)Multi-agent planning and scheduling concerns finding a joint plan to achieve some set of common goals with several independent agents each aiming to find a plan or schedule for their part of the goals. To avoid conflicts in these individual plans or schedules decoupling is used. Such a decoupling entails adding local constraints for the agents...conference paper 2011