Sven Koenig Xiaoming Zheng Craig A. Tovey Richard B. Borie Philip Kilby Vangelis Markakis Pinar Keskinocak Agent Coordination with Regret Clearing. 101-107 2008 AAAI conf/aaai/2008 db/conf/aaai/aaai2008.html#KoenigZTBKMK08 http://www.aaai.org/Library/AAAI/2008/aaai08-016.php