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Diagnosis of plan failures is an important subject in both single-and multi-agent planning. Plan diagnosis can be used to deal with plan failures in three ways: (i) to provide information necessary for the adjustment of the current plan or for the development of a new plan, (ii) to point out which equipment and/or agents should be repaired or adjusted to avoid further violation of the plan execution, and (iii) to identify the agents responsible for planexecution failures. We introduce twodoi:10.1007/s10458-008-9045-x fatcat:xlxlsuvxw5falmiaz6vutdzcdq