David Camacho Ricardo Aler Daniel Borrajo José M. Molina A Multi-Agent architecture for intelligent gathering systems. 15-32 2005 18 AI Commun. 1 http://iospress.metapress.com/openurl.asp?genre=article&issn=0921-7126&volume=18&issue=1&spage=15 db/journals/aicom/aicom18.html#CamachoABM05