Katia P. Sycara Massimo Paolucci Martin Van Velsen Joseph A. Giampapa The RETSINA MAS Infrastructure. 29-48 2003 7 Autonomous Agents and Multi-Agent Systems 1-2 http://dx.doi.org/10.1023/A:1024172719965 db/journals/aamas/aamas7.html#SycaraPVG03