Davy Van Nieuwenborgh Marina De Vos Stijn Heymans Dirk Vermeir Hierarchical Decision Making in Multi-agent Systems Using Answer Set Programming. 20-40 2006 conf/clima/2006 CLIMA VII http://dx.doi.org/10.1007/978-3-540-69619-3_2 db/conf/clima/climaVII2006.html#NieuwenborghVHV06