Applying multi-agent systems in real world scenarios requires several essential research
questions to be answered. Agents have to perceive their environment in order to take useful
actions. In a multi-agent system this results in a distributed perception of partial information,
which has to be fused. Based on the perceived environment the agents have to plan and
coordinate their actions. The relation between action and perception, which forms the basis
for planning, can be learned by perceiving the result of an action. In this paper we focus …