Jerry Ball Chris Arney Samuel G. Collins Mitchell Marcus Sergei Nirenburg Antonio Chella Kai Goebel Jason H. Li Margaret Lyell Brian Magerko Riccardo Manzotti Clayton T. Morrison Tim Oates Mark Riedl Goran Trajkovski Walt Truszkowski N. Serdar Uckun 99-104 2008 29 AI Magazine 1 http://www.aaai.org/ojs/index.php/aimagazine/article/view/2130 db/journals/aim/aim29.html#BallACMNCGLLMMMORTTU08