Valentino Crespi Aram Galstyan Kristina Lerman Top-down vs bottom-up methodologies in multi-agent system design. 303-313 2008 24 Auton. Robots 3 http://dx.doi.org/10.1007/s10514-007-9080-5 db/journals/arobots/arobots24.html#CrespiGL08