Monitoring plan execution is useful in various multi-agent applications, from agent cooperation to norm enforcement. Realistic environments often impose constraints on the capabilities of such monitoring, limiting the amount and coverage of available sensors. In this paper, we consider the problem of sensor placement within an environment to determine whether some behaviour has occurred. Our model is based on the semantics of planning, and we provide a simple formalism for describing sensors and behaviours in such a model. Given the computational complexity of the sensor placement problem, we investigate heuristic techniques for performing sensor placement, demonstrating that such techniques perform well even in complex domains.
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