David N. Allsopp Patrick Beautement Jeffrey M. Bradshaw Edmund H. Durfee Michael Kirton Craig A. Knoblock Niranjan Suri Austin Tate Craig W. Thompson 26-35 2002 17 IEEE Intelligent Systems 3 http://doi.ieeecomputersociety.org/10.1109/MIS.2002.1005628 db/journals/expert/expert17.html#AllsoppBBDKKSTT02