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Global convergence of local agent behaviors:

, In: Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems,
Van Dyke Parunak, H. ; Brueckner, Sven A. ; Sauter, John A.. - p. 305-312 , 2005
Link: https://dl.acm.org/doi/10.1145/1082473.1082520