Coordination as distributed search in a hierarchical behavior space

@article{Durfee1991CoordinationAD,
  title={Coordination as distributed search in a hierarchical behavior space},
  author={Edmund H. Durfee and Thomas A. Montgomery},
  journal={IEEE Trans. Systems, Man, and Cybernetics},
  year={1991},
  volume={21},
  pages={1363-1378}
}

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