In order to allow the temporal coordination of two independent communicating agents, one needs to be able to plan in a time-dependent environment. This paper deals with the modeling and solving of such problems through the use of Time-dependent Markov Decision Processes (TiMDPs). We provide an analysis of the TiMDP model and exploit its properties to introduce an improved asynchronous value iteration method. Our approach is evaluated on a UAV temporal coordination problem and on the well-known Mars rover domain
