摘要：This paper discusses the prediction process,which is the main step of the online monitoring process for a multi-agent plan. The monitoring process uses a relational model to estimate the internal status of the system,which is dynamic (changes over time). Unfortunately,the agents have partial observability of the environment;thus,the monitoring process cannot accurately determine the system status (known in the literature as belief state) at any instant. The prediction process is composed of two stages:a simulation stage (prediction of all possible system states at the succeeding time) and a clipping stage (elimination of states that are incompatible with the observations or with the constraints from predicted system states).
