Martin Carpenter Daniel Kudenko Baselines for Joint-Action Reinforcement Learning of Coordination in Cooperative Multi-agent Systems. 55-72 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3394&spage=55 2005 conf/aamas/2005 Adaptive Agents and Multi-Agent Systems db/conf/aamas/aamas2005.html#CarpenterK05