Claudia V. Goldman Shlomo Zilberstein Decentralized Control of Cooperative Systems: Categorization and Complexity Analysis. 143-174 2004 22 J. Artif. Intell. Res. (JAIR) http://www.cs.washington.edu/research/jair/abstracts/goldman04a.html db/journals/jair/jair22.html#GoldmanZ04