Matteo Baldoni Guido Boella Leendert W. N. van der Torre Modelling the Interaction Between Objects: Roles as Affordances. 42-54 2006 conf/ksem/2006 KSEM http://dx.doi.org/10.1007/11811220_5 db/conf/ksem/ksem2006.html#BaldoniBT06