Onn Shehory Sarit Kraus Osher Yadgar Emergent Cooperative Goal-Satisfaction in Large Scale Automated-Agent Systems. 1-55 1999 110 Artif. Intell. 1 db/journals/ai/ai110.html#ShehoryKY99 http://dx.doi.org/10.1016/S0004-3702(99)00018-1