“…A number of approaches to various aspects of the intention progression problem have been proposed in the literature, including summary-information-based (SI) [Thangarajah et al, 2003;Thangarajah and Padgham, 2011], coveragebased (CB) [Waters et al, 2014;Waters et al, 2015] and Monte-Carlo Tree Search-based (MCTS) [Yao et al, 2014;Yao et al, 2016c] approaches. Much of this work has focussed on the single agent setting, where the key challenge is the interleaving of steps in plans in different intentions to avoid conflicts, i.e., when the execution of a step in one plan makes the execution of a step in another concurrently executing plan impossible.…”