Danny Weyns Tom Holvoet A Formal Model for Situated Multi-Agent Systems. 125-158 2004 63 Fundam. Inform. 2-3 http://iospress.metapress.com/openurl.asp?genre=article&issn=0169-2968&volume=63&issue=2&spage=125 db/journals/fuin/fuin63.html#WeynsH04