Learning to Select a Coordination Mechanism

Learning to Select a Coordination Mechanism
Cora B. Excelente-Toledo
Nicholas R. Jennings
University of Southampton
Dept. of Electronics and Computer Science
Southampton SO17 1BJ, UK.
University of Southampton
Dept. of Electronics and Computer Science
Southampton SO17 1BJ, UK.
[email protected]
[email protected]
ABSTRACT
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Permission to make digital or hard copies of all or part of this work for
personal or classroom use is granted without fee provided that copies are
not made or distributed for pro£t or commercial advantage and that copies
bear this notice and the full citation on the £rst page. To copy otherwise, to
republish, to post on servers or to redistribute to lists, requires prior speci£c
permission and/or a fee.
AAMAS’02, July 15-19, 2002, Bologna, Italy.
Copyright 2002 ACM 1-58113-480-0/02/0007 ... 5.00.
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RELATED WORK
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