Before revision:  In this work, we propose a notion of explanation for plans , based on visualization of the plan as a short sequence of images representing time segments, where in each time segment the trajectories of the agents are disjoint  .
After revision:  In this work, we propose a notion of explanation for plans , based on visualization of the plan as a short sequence of images representing time segments, where in each time segment the trajectories of the agents are disjoint , clearly illustrating the safety of the plan .