  Planning for distributed agents with partial state information is considered
from a decision- theoretic perspective. We describe generalizations of both the
MDP and POMDP models that allow for decentralized control. For even a small
number of agents, the finite-horizon problems corresponding to both of our
models are complete for nondeterministic exponential time. These complexity
results illustrate a fundamental difference between centralized and
decentralized control of Markov processes. In contrast to the MDP and POMDP
problems, the problems we consider provably do not admit polynomial-time
algorithms and most likely require doubly exponential time to solve in the
worst case. We have thus provided mathematical evidence corresponding to the
intuition that decentralized planning problems cannot easily be reduced to
centralized problems and solved exactly using established techniques.
