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            <idno type="halRefHtml">&lt;i&gt;CDC 2012 - IEEE 51st Annual Conference on Decision and Control&lt;/i&gt;, Dec 2012, Maui, United States. &lt;a target="_blank" href="https://dx.doi.org/10.1109/CDC.2012.6426187"&gt;&amp;#x27E8;10.1109/CDC.2012.6426187&amp;#x27E9;&lt;/a&gt;</idno>
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              <p>Factored planning consists in driving a modularor distributed system to a target state, in an optimal manner,assuming all actions are controllable. Such problems take theform of path search in a product of graphs. The state space ofeach component is a graph, in which one must find a path tothe local goal of this component. But when all components areconsidered jointly, the problem amounts to finding a path ineach of these state graphs, while ensuring their compatibility onthe actions that must be performed jointly by some componentsof the system. This paper proposes a solution under the form ofa multi-agent version of A*, assembling several A*, each oneperforming a biased depth-first search in the graph of eachcomponent.</p>
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