Craig Boutilier Fahiem Bacchus Ronen I. Brafman UCP-Networks: A Directed Graphical Representation of Conditional Utilities. 56-64 2001 conf/uai/2001 UAI http://rome.exp.sis.pitt.edu/UAI/Abstract.asp?articleID=83&proceedingID=17 db/conf/uai/uai2001.html#BoutilierBB01