Bassam Baki Maroua Bouzid Antoni Ligeza Abdel-Illah Mouaddib A centralized planning technique with temporal constraints and uncertainty for multi-agent systems. 331-364 2006 18 J. Exp. Theor. Artif. Intell. 3 http://dx.doi.org/10.1080/09528130600906340 db/journals/jetai/jetai18.html#BakiBLM06