The Search for Coordination: Knowledge-Guided Abstraction and Search in a Hierarchical Behavior Space.

Daniel E. Damouth Edmund H. Durfee Marcus J. Huber Thomas A. Montgomery Sandip Sen The Search for Coordination: Knowledge-Guided Abstraction and Search in a Hierarchical Behavior Space. 187-206 1992 conf/maamaw/1992 MAAMAW db/conf/maamaw/maamaw1992.html#DamouthDHMS92