Pedro A. Szekely Marcel Becker Stephen Fitzpatrick Gergely Gati Dávid Hanák Jing Jin Gabor Karsai Rajiv T. Maheswaran Robert Neches Craig Milo Rogers Romeo Sanchez Christopher P. van Buskirk CSC: Criticality-Sensitive Coordination. 1441-1442 2006 conf/atal/2006 AAMAS http://doi.acm.org/10.1145/1160633.1160905 db/conf/atal/aamas2006.html#SzekelyBFGHJKMNRSB06