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Plan monitoring in a collaborative multi-agent system requires an agent to not only monitor the execution of its own plan, but also to detect possible deviations or failures in the plan execution of its teammates. In domains featuring partial observability and uncertainty in the agents' sensing and actuation, especially where communication among agents is sparse (as a part of a cost-minimized plan), plan monitoring can be a significant challenge. We design an Expectation Maximization (EM) baseddoi:10.1609/aaai.v30i1.10134 fatcat:46yhqbcpofgcleycu6a6cpejae