关键词: 带权与或树, AOE-网, 多智能体, 任务 规划, 任务分解, 任务协调

Abstract: Task decomposition and task coordination are interrelated and closely integrated process in multi-agent systems task planning.And/or tree is used to indicate the problem statute and solving process in artificial intelligence，with that a complex multi-stage problem is decomposed into several sub-problems which are easily solved.With regards to the complexity of the tasks and timing constraints，a task planning combined weighted and/or tree and AOE-network is presented.According to timing constraints between tasks，complex tasks are decomposed or transformed layer by layer，a structure of weighted and/or tree is built.Then the weighted and/or tree is converted to an AOE-network，concerted planning coordination is executed based on the earliest time of occurrence.Simulation results demonstrate the feasibility and effectiveness of task planning method.

Key words: weighted and/or tree, AOE-network, multi-agent systems, task planning, task decomposition, task coordination